{"id":"https://openalex.org/W4390480940","doi":"https://doi.org/10.1109/humanoids57100.2023.10375174","title":"Effects of Object Mass on Balancing for Whole-Body Lifting Tasks","display_name":"Effects of Object Mass on Balancing for Whole-Body Lifting Tasks","publication_year":2023,"publication_date":"2023-12-12","ids":{"openalex":"https://openalex.org/W4390480940","doi":"https://doi.org/10.1109/humanoids57100.2023.10375174"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids57100.2023.10375174","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids57100.2023.10375174","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/A5101895438","display_name":"Hyunjong Song","orcid":"https://orcid.org/0000-0002-3470-8221"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hyunjong Song","raw_affiliation_strings":["New York University,Department of Mechanical and Aerospace Engineering,Brooklyn,NY,USA,11201"],"affiliations":[{"raw_affiliation_string":"New York University,Department of Mechanical and Aerospace Engineering,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046378523","display_name":"William Z. Peng","orcid":"https://orcid.org/0000-0002-3612-3315"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Z. Peng","raw_affiliation_strings":["New York University,Department of Mechanical and Aerospace Engineering,Brooklyn,NY,USA,11201"],"affiliations":[{"raw_affiliation_string":"New York University,Department of Mechanical and Aerospace Engineering,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012243348","display_name":"Joo H. Kim","orcid":"https://orcid.org/0000-0003-0305-5405"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joo H. Kim","raw_affiliation_strings":["New York University,Department of Mechanical and Aerospace Engineering,Brooklyn,NY,USA,11201"],"affiliations":[{"raw_affiliation_string":"New York University,Department of Mechanical and Aerospace Engineering,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101895438"],"corresponding_institution_ids":["https://openalex.org/I57206974"],"apc_list":null,"apc_paid":null,"fwci":0.2253,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50158924,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"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":0.9995999932289124,"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":0.9995999932289124,"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":0.9915000200271606,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9911999702453613,"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/kinematics","display_name":"Kinematics","score":0.6475333571434021},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6357278823852539},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6231489181518555},{"id":"https://openalex.org/keywords/center-of-pressure","display_name":"Center of pressure (fluid mechanics)","score":0.6084913611412048},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5865277051925659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5711264610290527},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5186009407043457},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.45493727922439575},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4546109437942505},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.43867671489715576},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39289766550064087},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3793972432613373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28665652871131897},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27165061235427856},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24360185861587524},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11166054010391235}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6475333571434021},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6357278823852539},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6231489181518555},{"id":"https://openalex.org/C76542214","wikidata":"https://www.wikidata.org/wiki/Q604830","display_name":"Center of pressure (fluid mechanics)","level":3,"score":0.6084913611412048},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5865277051925659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5711264610290527},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5186009407043457},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.45493727922439575},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4546109437942505},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.43867671489715576},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39289766550064087},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3793972432613373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28665652871131897},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27165061235427856},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24360185861587524},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11166054010391235},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"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/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids57100.2023.10375174","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids57100.2023.10375174","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W3584668","https://openalex.org/W1502712385","https://openalex.org/W1969647642","https://openalex.org/W1995409582","https://openalex.org/W1995795964","https://openalex.org/W2016532427","https://openalex.org/W2018860673","https://openalex.org/W2022144657","https://openalex.org/W2025510976","https://openalex.org/W2030152869","https://openalex.org/W2037729465","https://openalex.org/W2045784107","https://openalex.org/W2051287096","https://openalex.org/W2072241589","https://openalex.org/W2079995373","https://openalex.org/W2138136244","https://openalex.org/W2147285788","https://openalex.org/W2149407815","https://openalex.org/W2156516508","https://openalex.org/W2158260582","https://openalex.org/W2220283420","https://openalex.org/W2318369481","https://openalex.org/W2328717023","https://openalex.org/W2539915646","https://openalex.org/W2564709524","https://openalex.org/W2570755862","https://openalex.org/W2594658746","https://openalex.org/W2738581289","https://openalex.org/W2911393029","https://openalex.org/W3003824082","https://openalex.org/W3095245882","https://openalex.org/W3102818256","https://openalex.org/W3131987590","https://openalex.org/W3146490120","https://openalex.org/W4229004266","https://openalex.org/W4321600722","https://openalex.org/W4383097663","https://openalex.org/W4388873988","https://openalex.org/W4389667669"],"related_works":["https://openalex.org/W2108723098","https://openalex.org/W2004285645","https://openalex.org/W2885305709","https://openalex.org/W2769737716","https://openalex.org/W4283764879","https://openalex.org/W2131207187","https://openalex.org/W4386003426","https://openalex.org/W1573821050","https://openalex.org/W282729764","https://openalex.org/W2789377032"],"abstract_inverted_index":{"Despite":[0],"the":[1,27,37,40,96,101,108,118,121,128,136,149,161,164],"importance":[2],"and":[3,12,54,88,103,110,142,155,163],"prevalence":[4],"of":[5,39,48,82,90,95,98,100,117,120,139,146,151],"loco-manipulation":[6],"tasks":[7,31],"by":[8,61],"humanoids,":[9],"existing":[10],"criteria":[11],"control":[13],"methods":[14],"for":[15,20,79],"stability":[16,28,47],"are":[17,59],"mostly":[18],"developed":[19],"unloaded":[21],"legged":[22],"gait.":[23],"In":[24],"this":[25],"paper,":[26],"during":[29],"lifting":[30,52],"is":[32],"comprehensively":[33],"analyzed":[34],"to":[35,135],"determine":[36],"role":[38],"lifted":[41],"object":[42,83,122,129],"mass":[43,123,130],"in":[44,72],"balancing.":[45,125],"The":[46],"a":[49,55],"simple":[50],"two-degree-of-freedom":[51],"model":[53],"whole-body":[56],"humanoid":[57],"robot":[58],"evaluated":[60],"constructing":[62],"their":[63,69],"balanced":[64],"state":[65],"boundaries,":[66],"which":[67],"represent":[68],"specific":[70],"capabilities":[71],"maintaining":[73],"balance,":[74],"through":[75],"an":[76],"optimization-based":[77],"framework":[78],"varying":[80],"combinations":[81],"mass,":[84],"joint":[85],"torque":[86],"limits,":[87,144],"base":[89,150],"support":[91],"dimensions.":[92],"Comparative":[93],"analysis":[94],"rate":[97],"change":[99],"linear":[102],"centroidal":[104],"angular":[105],"momenta":[106],"quantifies":[107],"nonlinear":[109],"nontrivial":[111],"tradeoffs,":[112],"i.e.,":[113],"contribution":[114],"or":[115],"obstruction,":[116],"effects":[119],"on":[124],"Overall,":[126],"increasing":[127],"enhances":[131],"balance":[132],"capability":[133],"subject":[134],"limiting":[137],"factors":[138],"system":[140],"kinematic":[141],"actuation":[143],"center":[145],"pressure":[147],"within":[148],"support,":[152],"friction":[153],"cone,":[154],"unilateral":[156],"normal":[157],"contact":[158],"forces":[159],"between":[160],"feet":[162],"ground.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}