{"id":"https://openalex.org/W2897428232","doi":"https://doi.org/10.1109/humanoids.2018.8624995","title":"Learning Robust Task Priorities of QP-Based Whole-Body Torque-Controllers","display_name":"Learning Robust Task Priorities of QP-Based Whole-Body Torque-Controllers","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2897428232","doi":"https://doi.org/10.1109/humanoids.2018.8624995","mag":"2897428232"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8624995","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8624995","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01895146/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067140379","display_name":"Marie Charbonneau","orcid":"https://orcid.org/0000-0003-2776-2745"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marie Charbonneau","raw_affiliation_strings":["ICub Facility, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICub Facility, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091705160","display_name":"Valerio Modugno","orcid":"https://orcid.org/0000-0002-5177-428X"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Valerio Modugno","raw_affiliation_strings":["DIAG, Sapienza Universita di Roma, Roma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIAG, Sapienza Universita di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063532849","display_name":"Francesco Nori","orcid":"https://orcid.org/0000-0003-3763-6873"},"institutions":[{"id":"https://openalex.org/I4210090411","display_name":"Google DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210113297","display_name":"Google (United Kingdom)","ror":"https://ror.org/024bc3e07","country_code":"GB","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210113297","https://openalex.org/I4210128969"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Francesco Nori","raw_affiliation_strings":["Google DeepMind, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMind, London, UK","institution_ids":["https://openalex.org/I4210090411","https://openalex.org/I4210113297"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085865201","display_name":"Giuseppe Oriolo","orcid":"https://orcid.org/0000-0001-6153-9278"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Oriolo","raw_affiliation_strings":["DIAG, Sapienza Universita di Roma, Roma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIAG, Sapienza Universita di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081455901","display_name":"Daniele Pucci","orcid":"https://orcid.org/0000-0002-7600-3203"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Pucci","raw_affiliation_strings":["ICub Facility, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICub Facility, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022711233","display_name":"Serena Ivaldi","orcid":"https://orcid.org/0000-0001-5349-9835"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I4210127166","display_name":"Centre Inria de l'Universit\u00e9 de Lorraine","ror":"https://ror.org/03fcjvn64","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210127166"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Serena Ivaldi","raw_affiliation_strings":["Loria, Inria Nancy - Grand Est, CNRS & Univ. Lorraine, Villers-les-Nancy, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loria, Inria Nancy - Grand Est, CNRS & Univ. Lorraine, Villers-les-Nancy, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210121838","https://openalex.org/I4210127166"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9983999729156494,"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":0.9937999844551086,"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/torque","display_name":"Torque","score":0.7282129526138306},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6769916415214539},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6338700652122498},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5518857836723328},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.46473240852355957},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4331427812576294},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4280286431312561},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32982519268989563},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30580461025238037},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.26782146096229553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19618716835975647},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08249902725219727},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.06708565354347229}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7282129526138306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6769916415214539},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6338700652122498},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5518857836723328},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.46473240852355957},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4331427812576294},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4280286431312561},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32982519268989563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30580461025238037},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26782146096229553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19618716835975647},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08249902725219727},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.06708565354347229},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/humanoids.2018.8624995","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8624995","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01895146v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01895146","pdf_url":"https://hal.science/hal-01895146/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"HUMANOIDS 2018 - IEEE-RAS 18th International Conference on Humanoid Robots, Nov 2018, Beijing, China","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:iris.uniroma1.it:11573/1228715","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/1228715","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01895146v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01895146","pdf_url":"https://hal.science/hal-01895146/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"HUMANOIDS 2018 - IEEE-RAS 18th International Conference on Humanoid Robots, Nov 2018, Beijing, China","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2897428232.pdf","grobid_xml":"https://content.openalex.org/works/W2897428232.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1738827650","https://openalex.org/W2050079439","https://openalex.org/W2057819258","https://openalex.org/W2061350632","https://openalex.org/W2110525007","https://openalex.org/W2112036188","https://openalex.org/W2160049112","https://openalex.org/W2165698076","https://openalex.org/W2167340365","https://openalex.org/W2213488769","https://openalex.org/W2263319466","https://openalex.org/W2527988986","https://openalex.org/W2571231574","https://openalex.org/W2582284816","https://openalex.org/W2605102758","https://openalex.org/W2759296571","https://openalex.org/W2772730941","https://openalex.org/W2782667761","https://openalex.org/W2884460909","https://openalex.org/W2963637864","https://openalex.org/W6716177886","https://openalex.org/W6734065107"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W4281727072","https://openalex.org/W4312219546","https://openalex.org/W1980376593","https://openalex.org/W2784035149","https://openalex.org/W2104109729","https://openalex.org/W324942907","https://openalex.org/W1979214824","https://openalex.org/W2685330831","https://openalex.org/W2386946123"],"abstract_inverted_index":{"Generating":[0],"complex":[1],"whole-body":[2,14,173],"movements":[3],"for":[4,100,121,171],"humanoid":[5,168],"robots":[6],"is":[7,53,161],"now":[8],"most":[9],"often":[10,28],"achieved":[11],"with":[12],"multi-task":[13],"controllers":[15,27],"based":[16],"on":[17,22,111],"quadratic":[18],"programming.":[19],"To":[20],"perform":[21],"the":[23,37,41,45,49,101,107,147,167],"real":[24,102,156],"robot,":[25,51],"such":[26,73],"require":[29],"a":[30,57,105,116,128,155,164,172],"human":[31],"expert":[32],"to":[33,44,48,140,154],"tune":[34],"or":[35,77],"optimize":[36],"many":[38],"parameters":[39,72,92],"of":[40,130,149,166],"controller":[42],"related":[43],"tasks":[46,126],"and":[47,59,132],"specific":[50],"which":[52,123,136],"generally":[54],"reported":[55],"as":[56,74,141],"tedious":[58],"time":[60],"consuming":[61],"procedure.":[62],"This":[63,134],"problem":[64],"can":[65,137,144],"be":[66,98,138],"tackled":[67],"by":[68,119],"automatically":[69],"optimizing":[70,112],"some":[71],"task":[75,78,113],"priorities":[76,114],"trajectories,":[79],"while":[80],"ensuring":[81],"constraints":[82],"satisfaction,":[83],"through":[84],"simulation.":[85],"However,":[86],"this":[87],"does":[88],"not":[89],"guarantee":[90],"that":[91],"optimized":[93,150],"in":[94,115],"simulation":[95,153,165],"will":[96],"also":[97],"optimal":[99],"robot.":[103,157],"As":[104],"solution,":[106],"present":[108],"paper":[109],"focuses":[110],"robust":[117],"way,":[118],"looking":[120],"solutions":[122,151],"achieve":[124],"desired":[125],"under":[127],"variety":[129],"conditions":[131],"perturbations.":[133],"approach,":[135],"referred":[139],"domain":[142],"randomization,":[143],"greatly":[145],"facilitate":[146],"transfer":[148],"from":[152],"The":[158],"proposed":[159],"method":[160],"demonstrated":[162],"using":[163],"robot":[169],"iCub":[170],"stepping":[174],"task.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}