{"id":"https://openalex.org/W2783239407","doi":"https://doi.org/10.1109/humanoids.2017.8246955","title":"Hybrid position/force control for biped robot stabilization with integrated center of mass dynamics","display_name":"Hybrid position/force control for biped robot stabilization with integrated center of mass dynamics","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2783239407","doi":"https://doi.org/10.1109/humanoids.2017.8246955","mag":"2783239407"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2017.8246955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1394927","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059600661","display_name":"Felix Sygulla","orcid":"https://orcid.org/0000-0003-2509-8027"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Felix Sygulla","raw_affiliation_strings":["Chair of Applied Mechanics, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Applied Mechanics, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055634921","display_name":"Robert Wittmann","orcid":"https://orcid.org/0000-0002-6779-5835"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Robert Wittmann","raw_affiliation_strings":["Chair of Applied Mechanics, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Applied Mechanics, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020318217","display_name":"Philipp Seiwald","orcid":"https://orcid.org/0000-0001-9464-041X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Philipp Seiwald","raw_affiliation_strings":["Chair of Applied Mechanics, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Applied Mechanics, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027173511","display_name":"Arne-Christoph Hildebrandt","orcid":"https://orcid.org/0000-0002-9127-8344"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arne-Christoph Hildebrandt","raw_affiliation_strings":["Chair of Applied Mechanics, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Applied Mechanics, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010950084","display_name":"Daniel Wahrmann","orcid":"https://orcid.org/0000-0002-2562-2004"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Wahrmann","raw_affiliation_strings":["Chair of Applied Mechanics, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Applied Mechanics, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041955731","display_name":"Daniel J. Rixen","orcid":"https://orcid.org/0000-0002-2303-4292"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Rixen","raw_affiliation_strings":["Chair of Applied Mechanics, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Applied Mechanics, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5059600661"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.5249,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.66125428,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"40","issue":null,"first_page":"742","last_page":"748"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10441","display_name":"Muscle Physiology and Disorders","score":0.9745000004768372,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8058628439903259},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6286885738372803},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.6192950010299683},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5845146179199219},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5654393434524536},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5385549664497375},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5208835601806641},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5121207237243652},{"id":"https://openalex.org/keywords/center-of-pressure","display_name":"Center of pressure (fluid mechanics)","score":0.510527491569519},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4806972146034241},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4772636592388153},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.47619593143463135},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.44372352957725525},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4288453161716461},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.415208637714386},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3583035171031952},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.264326274394989},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.20170727372169495},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19591134786605835},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1650572121143341},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16251757740974426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1548227071762085},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.12263715267181396},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11251479387283325},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.09968313574790955},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08817046880722046}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8058628439903259},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6286885738372803},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.6192950010299683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5845146179199219},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5654393434524536},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5385549664497375},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5208835601806641},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5121207237243652},{"id":"https://openalex.org/C76542214","wikidata":"https://www.wikidata.org/wiki/Q604830","display_name":"Center of pressure (fluid mechanics)","level":3,"score":0.510527491569519},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4806972146034241},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4772636592388153},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.47619593143463135},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.44372352957725525},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4288453161716461},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.415208637714386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3583035171031952},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.264326274394989},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.20170727372169495},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19591134786605835},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1650572121143341},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16251757740974426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1548227071762085},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.12263715267181396},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11251479387283325},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.09968313574790955},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08817046880722046},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2017.8246955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1394927","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1394927","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1394927","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1394927","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6899999976158142,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1945123189","https://openalex.org/W1949183026","https://openalex.org/W1967365365","https://openalex.org/W1987580649","https://openalex.org/W2042263030","https://openalex.org/W2048348209","https://openalex.org/W2049617391","https://openalex.org/W2072241589","https://openalex.org/W2078908663","https://openalex.org/W2080403628","https://openalex.org/W2089476757","https://openalex.org/W2095192936","https://openalex.org/W2095936366","https://openalex.org/W2106049869","https://openalex.org/W2126747268","https://openalex.org/W2130117525","https://openalex.org/W2133859362","https://openalex.org/W2141748803","https://openalex.org/W2142992961","https://openalex.org/W2153195058","https://openalex.org/W2159541442","https://openalex.org/W2160555349","https://openalex.org/W2161556708","https://openalex.org/W2167059557","https://openalex.org/W2168936093","https://openalex.org/W2170116736","https://openalex.org/W2210442267","https://openalex.org/W2503394469","https://openalex.org/W2539977475","https://openalex.org/W2745553815","https://openalex.org/W2752926056","https://openalex.org/W2848073230","https://openalex.org/W3088063282","https://openalex.org/W3104755274","https://openalex.org/W6640461015"],"related_works":["https://openalex.org/W1526789139","https://openalex.org/W2164738491","https://openalex.org/W3027249399","https://openalex.org/W4296047182","https://openalex.org/W2530057443","https://openalex.org/W2470094176","https://openalex.org/W2539555432","https://openalex.org/W2145788561","https://openalex.org/W2783239407","https://openalex.org/W2322638063"],"abstract_inverted_index":{"Traversing":[0],"uneven":[1],"terrain":[2],"with":[3,116,140],"unexpected":[4],"changes":[5],"in":[6,27,52,102,111,144,158],"ground":[7,35,145],"height":[8],"still":[9],"poses":[10],"a":[11,25,66,99,136,178],"major":[12],"challenge":[13],"to":[14,23,70],"walking":[15],"stabilization":[16],"of":[17,33,44,47,78,108,123,125,131,155,168,184],"humanoid":[18,118,192],"robots.":[19,193],"A":[20],"common":[21],"approach":[22,110,177],"balance":[24],"biped":[26],"such":[28],"situations":[29],"is":[30,49,81],"the":[31,34,39,42,45,76,106,152,159,165,182],"control":[32,59,68,88,189],"reaction":[36],"forces":[37,73],"at":[38],"feet.":[40],"However,":[41],"dynamics":[43,127,157],"center":[46,77,124,154],"mass":[48,126,156],"not":[50],"considered":[51],"existing":[53],"solutions":[54],"for":[55,98,135,181,191],"this":[56,62],"direct":[57,187],"force":[58,67,160,188],"scheme.":[60,89],"In":[61],"work,":[63],"we":[64,92],"present":[65],"method":[69],"realize":[71],"contact":[72,100,138],"by":[74,150],"accelerating":[75],"mass,":[79],"which":[80],"directly":[82],"integrated":[83],"into":[84],"our":[85,109,117,176],"hybrid":[86],"position/force":[87],"For":[90],"this,":[91],"first":[93],"introduce":[94],"an":[95],"analytical":[96],"formulation":[97],"model":[101],"task-space.":[103],"We":[104,147,174],"evaluate":[105],"performance":[107],"simulation":[112],"and":[113],"real-world":[114],"experiments":[115],"robot":[119],"LOLA.":[120],"The":[121],"integration":[122],"shows":[128],"great":[129],"reduction":[130],"upper-body":[132],"inclination":[133],"angles":[134],"late":[137],"experiment":[139],"5.5":[141],"cm":[142],"change":[143],"height.":[146],"found":[148],"that":[149],"using":[151],"system's":[153],"controller,":[161],"undesired":[162],"movements":[163],"along":[164],"under-actuated":[166],"degrees":[167],"freedom":[169],"can":[170],"be":[171],"compensated":[172],"effectively.":[173],"consider":[175],"starting":[179],"point":[180],"development":[183],"more":[185],"sophisticated":[186],"concepts":[190]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}