{"id":"https://openalex.org/W2128848325","doi":"https://doi.org/10.1109/icra.2011.5980156","title":"Inverse dynamics control of floating-base robots with external constraints: A unified view","display_name":"Inverse dynamics control of floating-base robots with external constraints: A unified view","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2128848325","doi":"https://doi.org/10.1109/icra.2011.5980156","mag":"2128848325"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980156","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980156","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5026007843","display_name":"Ludovic Righetti","orcid":"https://orcid.org/0000-0002-6458-9112"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ludovic Righetti","raw_affiliation_strings":["Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA","Computational Learning and Motor Control Lab, University of Southern California Los Angeles, CA90089, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Computational Learning and Motor Control Lab, University of Southern California Los Angeles, CA90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077279214","display_name":"Jonas Buchli","orcid":"https://orcid.org/0000-0001-7494-8492"},"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":"Jonas Buchli","raw_affiliation_strings":["Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","[Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"[Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy]","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082553836","display_name":"Michael Mistry","orcid":"https://orcid.org/0000-0003-3979-922X"},"institutions":[{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Mistry","raw_affiliation_strings":["Disney Research, Pittsburgh, PA, USA","Disney Research Pittsburgh, PA15213, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Disney Research, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210142140"]},{"raw_affiliation_string":"Disney Research Pittsburgh, PA15213, USA","institution_ids":["https://openalex.org/I4210142140"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107392143","display_name":"Stefan Schaal","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA","Computational Learning and Motor Control Lab, University of Southern California Los Angeles, CA90089, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Computational Learning and Motor Control Lab, University of Southern California Los Angeles, CA90089, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":142,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1085","last_page":"1090"},"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":0.9988999962806702,"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":0.9980999827384949,"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/underactuation","display_name":"Underactuation","score":0.7423772215843201},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6813991069793701},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6587063074111938},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.6538535952568054},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6091877222061157},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5308904051780701},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5168381333351135},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4755030572414398},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.46817702054977417},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.46578848361968994},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4327836036682129},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3154556155204773},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2730785012245178},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20914849638938904},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1909942626953125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14807558059692383}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7423772215843201},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6813991069793701},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6587063074111938},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.6538535952568054},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6091877222061157},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5308904051780701},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5168381333351135},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4755030572414398},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.46817702054977417},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.46578848361968994},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4327836036682129},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3154556155204773},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2730785012245178},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20914849638938904},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1909942626953125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14807558059692383},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5980156","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980156","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:edoc.mpg.de:590956","is_oa":false,"landing_page_url":"http://edoc.mpg.de/590956","pdf_url":null,"source":{"id":"https://openalex.org/S4406922265","display_name":"Max Planck Institute for Plasma Physics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 1085-1090 (2011)","raw_type":"Conference-Paper"},{"id":"pmh:oai:pure.mpg.de:item_1577796","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0010-4EE3-8","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W990093006","https://openalex.org/W2055576996","https://openalex.org/W2062940189","https://openalex.org/W2110612452","https://openalex.org/W2112474089","https://openalex.org/W2114006755","https://openalex.org/W2131232094","https://openalex.org/W2150317946","https://openalex.org/W2155813418","https://openalex.org/W2157822824","https://openalex.org/W2162495121","https://openalex.org/W2164032318","https://openalex.org/W2250331966"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2218699221","https://openalex.org/W2898458249","https://openalex.org/W2572731987","https://openalex.org/W4285133152"],"abstract_inverted_index":{"Inverse":[0],"dynamics":[1,54,78],"controllers":[2,6,55,59,99,119],"and":[3,38,56,80],"operational":[4,57,102],"space":[5,58,103],"have":[7,48],"proved":[8],"to":[9,40,51,66,86,94,111],"be":[10,124],"very":[11,87],"efficient":[12,112],"for":[13,60,76],"compliant":[14],"control":[15,79],"of":[16],"fully":[17],"actuated":[18],"robots":[19,27],"such":[20,28,120],"as":[21,29,34],"fixed":[22],"base":[23],"manipulators.":[24],"However":[25],"legged":[26],"humanoids":[30],"are":[31,36,91],"inherently":[32],"different":[33,69],"they":[35,122],"underactuated":[37],"subject":[39],"switching":[41],"external":[42],"contact":[43],"constraints.":[44],"Recently":[45],"several":[46],"methods":[47,84],"been":[49],"proposed":[50],"create":[52],"inverse":[53,77],"these":[61,68,83,118],"robots.":[62],"In":[63],"an":[64,127],"attempt":[65],"compare":[67],"approaches,":[70],"we":[71],"develop":[72],"a":[73],"general":[74],"framework":[75],"show":[81],"that":[82,121],"lead":[85],"similar":[88],"controllers.":[89],"We":[90,115],"then":[92],"able":[93],"greatly":[95],"simplify":[96],"recent":[97],"whole-body":[98],"based":[100],"on":[101],"approaches":[104],"using":[105],"kinematic":[106],"projections,":[107],"bringing":[108],"them":[109],"closer":[110],"practical":[113],"implementations.":[114],"also":[116],"generalize":[117],"can":[123],"optimal":[125],"under":[126],"arbitrary":[128],"quadratic":[129],"cost":[130],"in":[131],"the":[132],"commands.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":14},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":9}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}