{"id":"https://openalex.org/W2108729202","doi":"https://doi.org/10.1109/ichr.2010.5686343","title":"Adaptive torque-based control of a humanoid robot on an unstable platform","display_name":"Adaptive torque-based control of a humanoid robot on an unstable platform","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2108729202","doi":"https://doi.org/10.1109/ichr.2010.5686343","mag":"2108729202"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2010.5686343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686343","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","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/A5058502599","display_name":"Stuart Anderson","orcid":"https://orcid.org/0000-0002-3035-3478"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Stuart O. Anderson","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011498939","display_name":"Jessica K. Hodgins","orcid":"https://orcid.org/0000-0002-1778-883X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jessica K. Hodgins","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5058502599"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.8445,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.75395215,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"511","last_page":"517"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9919999837875366,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9890999794006348,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9327795505523682},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6764184832572937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.654714047908783},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.646636962890625},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6131718754768372},{"id":"https://openalex.org/keywords/seesaw-molecular-geometry","display_name":"Seesaw molecular geometry","score":0.5881255865097046},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49901747703552246},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4913863241672516},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41988953948020935},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4151366353034973},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3795183002948761},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3026001453399658},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2753239572048187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1731938123703003}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9327795505523682},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6764184832572937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.654714047908783},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.646636962890625},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6131718754768372},{"id":"https://openalex.org/C159762639","wikidata":"https://www.wikidata.org/wiki/Q2273845","display_name":"Seesaw molecular geometry","level":3,"score":0.5881255865097046},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49901747703552246},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4913863241672516},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41988953948020935},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4151366353034973},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3795183002948761},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3026001453399658},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2753239572048187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1731938123703003},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C186453547","wikidata":"https://www.wikidata.org/wiki/Q2126","display_name":"Neutrino","level":2,"score":0.0},{"id":"https://openalex.org/C185544564","wikidata":"https://www.wikidata.org/wiki/Q81197","display_name":"Nuclear physics","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2010.5686343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686343","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W101193468","https://openalex.org/W1569654252","https://openalex.org/W1596805757","https://openalex.org/W1597173708","https://openalex.org/W1689445748","https://openalex.org/W1985093330","https://openalex.org/W2016102421","https://openalex.org/W2022144657","https://openalex.org/W2037729465","https://openalex.org/W2062940189","https://openalex.org/W2080421646","https://openalex.org/W2083334152","https://openalex.org/W2114171536","https://openalex.org/W2116501050","https://openalex.org/W2126837612","https://openalex.org/W2133859362","https://openalex.org/W2135929901","https://openalex.org/W2145788561","https://openalex.org/W2150317946","https://openalex.org/W2153763008","https://openalex.org/W2167354091","https://openalex.org/W2462939235","https://openalex.org/W4252718184","https://openalex.org/W6604015922"],"related_works":["https://openalex.org/W2497468103","https://openalex.org/W3147366289","https://openalex.org/W160677519","https://openalex.org/W3004732674","https://openalex.org/W2262532587","https://openalex.org/W1999832398","https://openalex.org/W2026558218","https://openalex.org/W2745063183","https://openalex.org/W3154683939","https://openalex.org/W2100910774"],"abstract_inverted_index":{"We":[0,55],"are":[1,23],"interested":[2],"in":[3,75],"performing":[4,27],"dynamic":[5,37],"tasks":[6,17],"with":[7,39,50],"humanoid":[8,69],"robots.":[9],"Using":[10],"a":[11,36,46],"model-based":[12,47],"controller":[13,49,63],"to":[14,58],"perform":[15,35],"these":[16],"can":[18,64],"expose":[19],"modeling":[20],"errors":[21],"that":[22,60],"not":[24],"apparent":[25],"when":[26],"slower":[28],"or":[29],"less":[30],"difficult":[31],"tasks.":[32],"To":[33],"successfully":[34],"task":[38],"the":[40,66,76],"Sarcos":[41,67],"Primus":[42,68],"humanoid,":[43],"we":[44],"augmented":[45,62],"policy-mixing":[48],"automated":[51],"model":[52,83],"adaptation":[53],"techniques.":[54],"conducted":[56],"experiments":[57],"show":[59],"this":[61],"balance":[65],"on":[70],"an":[71],"unstable":[72],"seesaw":[73],"platform":[74],"presence":[77],"of":[78],"unexpected":[79],"disturbances":[80],"and":[81],"significant":[82],"errors.":[84]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}