{"id":"https://openalex.org/W1978698562","doi":"https://doi.org/10.1109/icra.2013.6631261","title":"Cooperative-Dual-Task-Space-based whole-body motion balancing for humanoid robots","display_name":"Cooperative-Dual-Task-Space-based whole-body motion balancing for humanoid robots","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W1978698562","doi":"https://doi.org/10.1109/icra.2013.6631261","mag":"1978698562"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5024543188","display_name":"H. Andy Park","orcid":"https://orcid.org/0000-0003-3592-9648"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Andy Park","raw_affiliation_strings":["School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","Sch. of Electr. & Comput. engineering, Purdue Univ., West Lafayette, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"Sch. of Electr. & Comput. engineering, Purdue Univ., West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026925435","display_name":"C. S. George Lee","orcid":"https://orcid.org/0000-0002-5610-0671"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. S. George Lee","raw_affiliation_strings":["School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","Sch. of Electr. & Comput. engineering, Purdue Univ., West Lafayette, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"Sch. of Electr. & Comput. engineering, Purdue Univ., West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8207,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72740637,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"36","issue":null,"first_page":"4797","last_page":"4802"},"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":0.9993000030517578,"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":0.9821000099182129,"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":0.8318865895271301},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6712721586227417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6012673377990723},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.561369776725769},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4785493016242981},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4209064245223999},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.41894298791885376},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41489654779434204},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41053470969200134},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38201379776000977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34367895126342773},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2666410207748413},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2185341715812683}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8318865895271301},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6712721586227417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6012673377990723},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.561369776725769},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4785493016242981},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4209064245223999},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.41894298791885376},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41489654779434204},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41053470969200134},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38201379776000977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34367895126342773},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2666410207748413},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2185341715812683},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6631261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1874049655","https://openalex.org/W1939926247","https://openalex.org/W1967524332","https://openalex.org/W1972941263","https://openalex.org/W1988183163","https://openalex.org/W2000405511","https://openalex.org/W2005286199","https://openalex.org/W2033208083","https://openalex.org/W2044459021","https://openalex.org/W2064600809","https://openalex.org/W2080421646","https://openalex.org/W2089090953","https://openalex.org/W2098516422","https://openalex.org/W2109153754","https://openalex.org/W2114652389","https://openalex.org/W2116546092","https://openalex.org/W2117155277","https://openalex.org/W2133859362","https://openalex.org/W2136083589","https://openalex.org/W2166330762","https://openalex.org/W2170918662","https://openalex.org/W2546935260","https://openalex.org/W6672804221"],"related_works":["https://openalex.org/W643038845","https://openalex.org/W2143761673","https://openalex.org/W2521924929","https://openalex.org/W2392978157","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W1593091151","https://openalex.org/W1532965292","https://openalex.org/W2541058374"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"the":[3,15,39,49,52,58,68,71,75,79,83,92,100,103,106,113,126,132,145,152,156,161,197,221],"use":[4],"of":[5,36,41,54,91,112,140,163,168,196],"Cooperative":[6],"Dual-Task":[7],"Space":[8],"(CDTS)":[9],"as":[10],"an":[11,121,177,188],"efficient":[12,122],"approach":[13,200],"for":[14,20,171],"whole-body":[16,128,169],"motion":[17,60,81,129,139,179],"balancing":[18],"problem":[19],"humanoid":[21,55,173],"robots.":[22],"The":[23,116,194],"CDTS":[24,42,66,93],"variables":[25,43,69,77,94],"have":[26],"been":[27],"used":[28,97],"efficiently":[29],"to":[30,47,98,124],"describe":[31,48,99],"and":[32,51,63,74,105,183,218],"control":[33,53,76],"coordinated":[34,138],"motions":[35,170,185],"dual-arms.":[37],"Similarly,":[38],"concept":[40],"can":[44,86,95,108],"be":[45,87,96,109],"extended":[46],"constraints":[50,73,101,107,147],"legs.":[56],"When":[57],"leg":[59,80],"is":[61],"described":[62],"controlled":[64],"by":[65,130,136,175,187],"variables,":[67],"regarding":[70,82],"feet":[72,150],"in":[78,151],"waist":[84,134],"movement":[85],"nicely":[88],"decoupled.":[89],"One":[90],"on":[102,148,214],"feet,":[104],"expressed":[110],"independently":[111],"support-foot":[114],"changes.":[115],"proposed":[117,157,198],"CDTS-based":[118,158,199],"method":[119,159],"provides":[120,160],"way":[123],"stabilize":[125],"merged":[127],"modifying":[131],"horizontal":[133],"position":[135],"a":[137,165,172,210,215,224],"both":[141,149],"legs":[142],"while":[143],"satisfying":[144],"changing":[146],"lower-body":[153,184],"motion.":[154],"Thus,":[155],"possibility":[162],"generating":[164],"large":[166],"library":[167],"robot":[174,212],"combining":[176],"upper-body":[178,226],"captured":[180],"from":[181],"humans":[182],"generated":[186],"existing":[189],"biped":[190],"walking":[191,213],"pattern":[192],"planner.":[193],"performance":[195],"was":[201],"validated":[202],"through":[203],"extensive":[204],"simulations":[205],"including":[206],"cases":[207],"that":[208],"showed":[209],"HOAP-2":[211],"flat":[216],"terrain":[217],"climbing":[219],"up":[220],"stairs":[222],"with":[223],"rapid":[225],"movement.":[227]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
