{"id":"https://openalex.org/W2161296263","doi":"https://doi.org/10.1109/icra.2011.5980350","title":"Self-collision avoidance and angular momentum compensation for a biped humanoid robot","display_name":"Self-collision avoidance and angular momentum compensation for a biped humanoid robot","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2161296263","doi":"https://doi.org/10.1109/icra.2011.5980350","mag":"2161296263"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980350","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":"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/A5046473145","display_name":"Markus Schwienbacher","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Markus Schwienbacher","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067066595","display_name":"Thomas Buschmann","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Buschmann","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023445877","display_name":"Sebastian Lohmeier","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Lohmeier","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008031629","display_name":"Valerio Favot","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Valerio Favot","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090114501","display_name":"Heinz Ulbrich","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heinz Ulbrich","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5046473145"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.0985,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.86743999,"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":null,"last_page":null},"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":0.993399977684021,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9794999957084656,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.7943880558013916},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6663655042648315},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6563984751701355},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.6300638318061829},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6115323901176453},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6011911630630493},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5542376637458801},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5373455882072449},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5111549496650696},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4879569411277771},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.4817652702331543},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40606454014778137},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.32443249225616455},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25219279527664185},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2482377588748932},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.21457147598266602}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7943880558013916},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6663655042648315},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6563984751701355},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.6300638318061829},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6115323901176453},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6011911630630493},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5542376637458801},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5373455882072449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5111549496650696},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4879569411277771},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.4817652702331543},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40606454014778137},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.32443249225616455},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25219279527664185},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2482377588748932},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.21457147598266602},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5980350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980350","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:mediatum.ub.tum.de:node/1134313","is_oa":false,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1134313","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1963726847","https://openalex.org/W2049617391","https://openalex.org/W2100790457","https://openalex.org/W2116593178","https://openalex.org/W2117495699","https://openalex.org/W2129151256","https://openalex.org/W2139255095","https://openalex.org/W2152869188","https://openalex.org/W2158124145","https://openalex.org/W2160303287","https://openalex.org/W2161556708","https://openalex.org/W2165623742","https://openalex.org/W2539977475","https://openalex.org/W2542762620","https://openalex.org/W2543071036","https://openalex.org/W3088063282"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2136233762","https://openalex.org/W339676884","https://openalex.org/W4389401105"],"abstract_inverted_index":{"To":[0,63],"simplify":[1],"the":[2,14,59,66,71,76,82,94,105,112,117,125,130,138,146,154],"development":[3],"of":[4,30,58,75,86,116],"new":[5],"trajectories":[6],"for":[7,18,98,121,145],"a":[8,49,89,99],"humanoid":[9],"robot":[10,60,102,119,155],"with":[11,137,153],"many":[12],"joints,":[13],"ability":[15],"to":[16,25,92],"check":[17],"potential":[19],"collisions":[20,65],"is":[21,42,61,79,108],"crucial.":[22],"More":[23],"importantly,":[24],"enable":[26],"on":[27,81],"line":[28],"generation":[29],"general":[31],"motions,":[32],"such":[33],"as":[34],"whole-body-motion,":[35],"collision":[36,140],"avoidance":[37,141],"must":[38],"be":[39,135],"employed,":[40],"which":[41,78,103],"usually":[43],"more":[44],"challenging.":[45],"In":[46],"this":[47],"paper,":[48],"model-based":[50],"and":[51,151],"efficient":[52],"on-line":[53],"distance":[54],"calculation":[55],"between":[56],"links":[57],"proposed.":[62,109],"avoid":[64],"results":[67,144],"are":[68,157],"projected":[69],"into":[70],"null":[72],"space":[73],"term":[74],"inverse-kinematics":[77],"based":[80],"redundancy":[83],"resolution":[84],"framework":[85],"LIEGEOIS.":[87],"Additionally,":[88],"novel":[90],"method":[91,126],"reduce":[93],"vertical":[95,113],"angular":[96,114],"momentum":[97,115],"walking":[100,118],"biped":[101],"uses":[104],"arm":[106],"motion":[107],"It":[110],"reduces":[111],"especially":[120],"larger":[122],"steps.":[123],"Since":[124],"also":[127],"works":[128],"in":[129],"null-space,":[131],"it":[132],"can":[133],"easily":[134],"combined":[136],"proposed":[139,147],"scheme.":[142],"Finally,":[143],"methods":[148],"from":[149],"simulations":[150],"experiments":[152],"Lola":[156],"shown.":[158]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
