{"id":"https://openalex.org/W4390480921","doi":"https://doi.org/10.1109/humanoids57100.2023.10375152","title":"Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases","display_name":"Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases","publication_year":2023,"publication_date":"2023-12-12","ids":{"openalex":"https://openalex.org/W4390480921","doi":"https://doi.org/10.1109/humanoids57100.2023.10375152"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids57100.2023.10375152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375152","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","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/A5070580138","display_name":"Tobias Egle","orcid":"https://orcid.org/0000-0003-1670-9754"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Tobias Egle","raw_affiliation_strings":["Automation and Control Institute, TU Wien,Faculty of Electrical Engineering and Information Technology,Vienna,Austria,1040"],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, TU Wien,Faculty of Electrical Engineering and Information Technology,Vienna,Austria,1040","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028440671","display_name":"Johannes Englsberger","orcid":"https://orcid.org/0000-0002-8117-2650"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Englsberger","raw_affiliation_strings":["Institute of Robotics and Mecha-tronics, German Aerospace Center (DLR),Wessling,Germany,82234"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mecha-tronics, German Aerospace Center (DLR),Wessling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Automation and Control Institute, TU Wien,Faculty of Electrical Engineering and Information Technology,Vienna,Austria,1040"],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, TU Wien,Faculty of Electrical Engineering and Information Technology,Vienna,Austria,1040","institution_ids":["https://openalex.org/I145847075"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5070580138"],"corresponding_institution_ids":["https://openalex.org/I145847075"],"apc_list":null,"apc_paid":null,"fwci":0.443,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.59451509,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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":0.9980999827384949,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8044732809066772},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.718687891960144},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6166260838508606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6150813102722168},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5978670120239258},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5623888969421387},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5286912322044373},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.5027360916137695},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.46065258979797363},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.438494473695755},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43423449993133545},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2519274353981018},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16908329725265503}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8044732809066772},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.718687891960144},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6166260838508606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6150813102722168},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5978670120239258},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5623888969421387},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5286912322044373},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.5027360916137695},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.46065258979797363},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.438494473695755},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43423449993133545},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2519274353981018},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16908329725265503},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids57100.2023.10375152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375152","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:202392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/Humanoids57100.2023.10375152>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1872467587","https://openalex.org/W1973165290","https://openalex.org/W2074042377","https://openalex.org/W2086853455","https://openalex.org/W2088175395","https://openalex.org/W2112349308","https://openalex.org/W2116310395","https://openalex.org/W2122458271","https://openalex.org/W2138136244","https://openalex.org/W2158782408","https://openalex.org/W2563439850","https://openalex.org/W2593996575","https://openalex.org/W2594658746","https://openalex.org/W2771599024","https://openalex.org/W2874254091","https://openalex.org/W2890302476","https://openalex.org/W2890933152","https://openalex.org/W2954730031","https://openalex.org/W2963514379","https://openalex.org/W3011337332","https://openalex.org/W3012233117","https://openalex.org/W3020839343","https://openalex.org/W3037562402","https://openalex.org/W3102818256","https://openalex.org/W3131983787","https://openalex.org/W3205968186","https://openalex.org/W4249010688","https://openalex.org/W4280590774","https://openalex.org/W6837867312"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W1991876829","https://openalex.org/W2026275902","https://openalex.org/W2593698653","https://openalex.org/W2651176679","https://openalex.org/W2151114014","https://openalex.org/W1587642588"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,85],"present":[4],"a":[5,137,174,184],"robust":[6],"DCM-based":[7],"online":[8],"trajectory":[9],"generator":[10],"with":[11,125],"step":[12,142,186],"timing":[13,41,62,100],"adaptation":[14,63,188],"using":[15],"MPC":[16,107],"in":[17,67,152,161],"addition":[18],"to":[19,37,39,115,144,154],"manipulating":[20],"the":[21,26,61,68,75,88,93,99,104,109,129,132,149,164],"ground":[22],"reaction":[23],"forces":[24],"by":[25,135],"DCM":[27,94],"tracking":[28,95],"controller.":[29],"The":[30,157],"proposed":[31],"control":[32,127],"framework":[33,119],"utilizes":[34],"three":[35],"strategies":[36],"react":[38],"disturbances:":[40],"adaptation,":[42],"footstep":[43],"position":[44],"adjustment,":[45],"and":[46,59,101,141,173,189],"CoP":[47,130],"modulation.":[48],"Most":[49],"state-of-the-art":[50],"walking":[51],"controllers":[52],"only":[53],"address":[54],"some":[55],"of":[56,70,103,128,139,148],"these":[57],"aspects,":[58],"especially":[60],"is":[64,113,120,159],"often":[65],"neglected":[66],"presence":[69],"double":[71],"support":[72,133],"phases":[73],"as":[74],"resulting":[76],"optimization":[77],"problem":[78],"generally":[79],"becomes":[80],"nonlinear.":[81],"We":[82],"show":[83],"that":[84],"can":[86],"keep":[87],"fast":[89],"disturbance":[90],"rejection":[91],"from":[92],"controller":[96],"while":[97],"adjusting":[98],"location":[102],"footsteps":[105],"via":[106],"if":[108],"CoP-based":[110],"ankle":[111,140],"strategy":[112,143],"insufficient":[114],"maintain":[116],"balance.":[117],"This":[118],"particularly":[121],"relevant":[122],"for":[123,183],"robots":[124],"active":[126],"inside":[131],"polygon":[134],"utilizing":[136],"combination":[138],"take":[145],"full":[146],"advantage":[147],"robot's":[150],"capabilities":[151],"response":[153],"external":[155],"disturbances.":[156],"method":[158],"validated":[160],"simulation":[162],"on":[163],"robot":[165],"kangaroo.":[166],"It":[167],"has":[168],"lightweight,":[169],"fully":[170],"actuated":[171],"legs":[172],"sufficiently":[175],"large":[176],"contact":[177,190],"area,":[178],"making":[179],"it":[180],"highly":[181],"suitable":[182],"combined":[185],"time":[187],"force":[191],"modulation":[192],"approach.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
