{"id":"https://openalex.org/W3011682345","doi":"https://doi.org/10.1109/humanoids43949.2019.9035021","title":"Push Recovery by Angular Momentum Control during 3D Bipedal Walking based on Virtual-mass-ellipsoid Inverted Pendulum Model","display_name":"Push Recovery by Angular Momentum Control during 3D Bipedal Walking based on Virtual-mass-ellipsoid Inverted Pendulum Model","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W3011682345","doi":"https://doi.org/10.1109/humanoids43949.2019.9035021","mag":"3011682345"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids43949.2019.9035021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035021","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008184443","display_name":"Kaixuan Guan","orcid":"https://orcid.org/0009-0009-8185-916X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kaixuan Guan","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035701118","display_name":"Ko Yamamoto","orcid":"https://orcid.org/0000-0002-9558-3880"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ko Yamamoto","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiko Nakamura","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"120","last_page":"125"},"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":0.9815000295639038,"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":0.9386000037193298,"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":0.8658273220062256},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.8518270254135132},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.7344726920127869},{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.6740387678146362},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.5331961512565613},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5312105417251587},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5088505744934082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49989891052246094},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.4953435957431793},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4635002315044403},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.44313299655914307},{"id":"https://openalex.org/keywords/double-inverted-pendulum","display_name":"Double inverted pendulum","score":0.4379512071609497},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.42528027296066284},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.41470855474472046},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40577709674835205},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.32996517419815063},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.28567641973495483},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24951031804084778},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22516611218452454},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20517224073410034},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.19173184037208557},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15183711051940918},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10690799355506897},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1047997772693634}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8658273220062256},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8518270254135132},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.7344726920127869},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.6740387678146362},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.5331961512565613},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5312105417251587},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5088505744934082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49989891052246094},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.4953435957431793},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4635002315044403},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.44313299655914307},{"id":"https://openalex.org/C102540577","wikidata":"https://www.wikidata.org/wiki/Q5300047","display_name":"Double inverted pendulum","level":4,"score":0.4379512071609497},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.42528027296066284},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.41470855474472046},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40577709674835205},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.32996517419815063},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.28567641973495483},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24951031804084778},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22516611218452454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20517224073410034},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.19173184037208557},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15183711051940918},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10690799355506897},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1047997772693634},{"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/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids43949.2019.9035021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035021","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W1973165290","https://openalex.org/W2037686067","https://openalex.org/W2120693140","https://openalex.org/W2122458271","https://openalex.org/W2125150855","https://openalex.org/W2136771840","https://openalex.org/W2143729862","https://openalex.org/W2153190828","https://openalex.org/W2341336767","https://openalex.org/W2477962321","https://openalex.org/W2503394469","https://openalex.org/W2568656471","https://openalex.org/W2584245200","https://openalex.org/W2793603912","https://openalex.org/W2904570303","https://openalex.org/W2964324732","https://openalex.org/W3004247659","https://openalex.org/W3104755274","https://openalex.org/W3147253688"],"related_works":["https://openalex.org/W1859914877","https://openalex.org/W2024927487","https://openalex.org/W1492838287","https://openalex.org/W2034778971","https://openalex.org/W2349578589","https://openalex.org/W2612646280","https://openalex.org/W2893549521","https://openalex.org/W2204278379","https://openalex.org/W2381121570","https://openalex.org/W2661345901"],"abstract_inverted_index":{"During":[0],"walking,":[1],"humanoid":[2,13,34],"robots":[3,14],"may":[4],"encounter":[5],"many":[6,33],"exogenous":[7],"disturbances":[8,21],"under":[9],"unknown":[10],"environments.":[11],"Enabling":[12],"to":[15,18,75,101],"have":[16,46,86,134],"applicability":[17],"resisting":[19],"such":[20],"is":[22,28],"very":[23],"important.":[24],"Therefore,":[25],"push":[26,78,92],"recovery":[27],"an":[29],"interesting":[30],"issue":[31],"attracting":[32],"robot":[35],"researchers.":[36],"Previous":[37],"works":[38],"based":[39],"on":[40,118],"Linear":[41],"Inverted":[42,66],"Pendulum":[43,67],"(LIP)":[44],"model":[45,69],"limitations":[47,51],"because":[48],"of":[49,52,63,112,138],"the":[50,53,61,64,109,124,136],"LIP":[54],"models.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59],"extend":[60],"usage":[62],"Virtual-mass-ellipsoid":[65],"(VIP)":[68],"proposed":[70,84,140],"in":[71],"our":[72,139],"previous":[73],"work":[74],"recover":[76,91],"orientational":[77],"by":[79],"angular":[80,127],"momentum":[81,128],"control.":[82],"Our":[83],"methods":[85],"three":[87],"main":[88],"characteristics.":[89],"Can":[90],"during":[93,97],"walking":[94],"(not":[95],"just":[96],"standing);":[98],"Be":[99],"suitable":[100],"3D":[102],"uneven":[103],"terrains;":[104],"Most":[105],"significantly,":[106],"completely":[107],"remove":[108],"constant":[110,120,125],"center":[111],"mass":[113],"(CoM)":[114],"height":[115,117],"(or":[116],"a":[119],"slope)":[121],"limitation":[122],"and":[123],"centroidal":[126],"(CAM)":[129],"limitation.":[130],"Simulations":[131],"using":[132],"HRP4":[133],"validated":[135],"effectiveness":[137],"methods.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}