{"id":"https://openalex.org/W2913201817","doi":"https://doi.org/10.1109/humanoids.2018.8625013","title":"Balancing Control Through Post-Optimization of Contact Forces","display_name":"Balancing Control Through Post-Optimization of Contact Forces","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2913201817","doi":"https://doi.org/10.1109/humanoids.2018.8625013","mag":"2913201817"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8625013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625013","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-01871050","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016982993","display_name":"Arturo Laurenzi","orcid":"https://orcid.org/0000-0002-9065-1266"},"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"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arturo Laurenzi","raw_affiliation_strings":["DIBRIS, Universita di Genova, Genova, Italy","Fondazione Istituto Italiano di Tecnologia, Genova (Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIBRIS, Universita di Genova, Genova, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Fondazione Istituto Italiano di Tecnologia, Genova (Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046447340","display_name":"Enrico Mingo Hoffman","orcid":"https://orcid.org/0000-0003-2063-7490"},"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":"Enrico Mingo Hoffman","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tee-nologia, Genova, Italy","PAL Robotics ( Carrer de Pujades, 77, 08005 Barcelona - Spain)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tee-nologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"PAL Robotics ( Carrer de Pujades, 77, 08005 Barcelona - Spain)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017839261","display_name":"Matteo Parigi Polverini","orcid":"https://orcid.org/0000-0002-4740-7006"},"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":"Matteo Parigi Polverini","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tee-nologia, Genova, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tee-nologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"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":"Nikos G. Tsagarakis","raw_affiliation_strings":["Advanced Robotics Department (ADVR), Istituto Italiano di Tee-nologia, Genova, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department (ADVR), Istituto Italiano di Tee-nologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"320","last_page":"326"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9927999973297119,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.8253974914550781},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7891783118247986},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.695868730545044},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6433286070823669},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5732465982437134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5321276187896729},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5083109736442566},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.45656096935272217},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.4398244321346283},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4277890920639038},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4018290042877197},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3751934766769409},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32808801531791687},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20267581939697266},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1535264551639557},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12765353918075562},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08192366361618042},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07667779922485352}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.8253974914550781},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7891783118247986},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.695868730545044},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6433286070823669},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5732465982437134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5321276187896729},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5083109736442566},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.45656096935272217},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4398244321346283},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4277890920639038},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4018290042877197},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3751934766769409},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32808801531791687},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20267581939697266},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1535264551639557},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12765353918075562},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08192366361618042},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07667779922485352},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2018.8625013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625013","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-01871050v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01871050","pdf_url":null,"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":"IEEE/RAS International Conference of Humanoid Robots, IEEE/RAS, Nov 2018, Beijing, China. pp.320-326, &#x27E8;10.1109/HUMANOIDS.2018.8625013&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01871050v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01871050","pdf_url":null,"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":"IEEE/RAS International Conference of Humanoid Robots, IEEE/RAS, Nov 2018, Beijing, China. pp.320-326, &#x27E8;10.1109/HUMANOIDS.2018.8625013&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W28293053","https://openalex.org/W1499277207","https://openalex.org/W1989016128","https://openalex.org/W2005080926","https://openalex.org/W2019606703","https://openalex.org/W2046636826","https://openalex.org/W2054577881","https://openalex.org/W2061350632","https://openalex.org/W2062940189","https://openalex.org/W2080421646","https://openalex.org/W2086009575","https://openalex.org/W2110612452","https://openalex.org/W2113265921","https://openalex.org/W2128848325","https://openalex.org/W2131232094","https://openalex.org/W2141042553","https://openalex.org/W2145788561","https://openalex.org/W2164032318","https://openalex.org/W2169564405","https://openalex.org/W2294646437","https://openalex.org/W2491934829","https://openalex.org/W2612636433","https://openalex.org/W2772044689","https://openalex.org/W2773174577","https://openalex.org/W2890302476","https://openalex.org/W2891172891","https://openalex.org/W4254086355","https://openalex.org/W6677390752"],"related_works":["https://openalex.org/W2112389631","https://openalex.org/W2161681971","https://openalex.org/W2172182590","https://openalex.org/W2157702526","https://openalex.org/W2103107162","https://openalex.org/W2197323063","https://openalex.org/W2142476074","https://openalex.org/W2221071558","https://openalex.org/W2104832047","https://openalex.org/W2885663867"],"abstract_inverted_index":{"In":[0],"this":[1],"work":[2,73],"we":[3],"present":[4],"a":[5,29,33,48,90,98],"novel":[6],"method":[7,80],"to":[8,40,47,74,97,105],"address":[9],"the":[10,42,56,75,78,82,87,124,127],"balancing":[11],"problem":[12],"for":[13],"torque":[14,50],"controlled":[15],"legged":[16,30],"robots":[17],"through":[18,65],"post-optimization":[19],"of":[20,55,85,89,93,101,111],"contact":[21,63],"forces.":[22],"The":[23,52,109],"main":[24],"concept":[25],"consists":[26],"in":[27,38,95,117],"treating":[28],"robot":[31],"as":[32],"fully":[34],"actuated":[35],"fixed-base":[36],"system":[37],"order":[39],"compute":[41],"desired":[43,91],"joint":[44],"torques":[45,58],"according":[46],"fixed-based":[49],"controller.":[51],"under-actuated":[53],"component":[54],"obtained":[57],"is":[59],"then":[60],"mapped":[61],"into":[62],"forces":[64],"an":[66],"optimal":[67],"distribution":[68],"problem.":[69],"Besides":[70],"extending":[71],"previous":[72],"floating-base":[76],"case,":[77],"proposed":[79],"has":[81,114],"notable":[83],"advantage":[84],"avoiding":[86],"specification":[88],"momentum":[92],"rotation,":[94],"addition":[96],"reduced":[99],"number":[100],"decision":[102],"variables":[103],"compared":[104],"full-inverse":[106],"dynamics":[107],"methods.":[108],"effectiveness":[110],"our":[112],"approach":[113],"been":[115],"validated":[116],"simulation":[118],"using":[119],"two":[120],"different":[121],"humanoid":[122],"platforms:":[123],"CEN-TAURO":[125],"and":[126],"COMAN+":[128,143],"robots,":[129],"both":[130],"recently":[131],"developed":[132],"at":[133],"Istituto":[134],"Italiano":[135],"di":[136],"Tecnologia":[137],"(IIT).":[138],"Preliminary":[139],"experimental":[140],"results":[141],"on":[142],"are":[144],"also":[145],"presented.":[146]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
