{"id":"https://openalex.org/W1506318495","doi":"https://doi.org/10.1109/icra.2015.7139994","title":"Optimal contact force distribution for compliant humanoid robots in whole-body loco-manipulation tasks","display_name":"Optimal contact force distribution for compliant humanoid robots in whole-body loco-manipulation tasks","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1506318495","doi":"https://doi.org/10.1109/icra.2015.7139994","mag":"1506318495"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139994","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5087819415","display_name":"Edoardo Farnioli","orcid":null},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"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":"Edoardo Farnioli","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Research Center \u201cE. Piaggio\u201d, Universita di Pisa, Pisa, Italy","Research Center \"E. Piaggio\", Universita di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Research Center \u201cE. Piaggio\u201d, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Research Center \"E. Piaggio\", Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059942628","display_name":"Marco Gabiccini","orcid":"https://orcid.org/0000-0001-5670-892X"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"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":"Marco Gabiccini","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Department of Civil and industrial Engineering, Universita di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Civil and industrial Engineering, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"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":"Antonio Bicchi","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Research Center \u201cE. Piaggio\u201d, Universita di Pisa, Pisa, Italy","Research Center \"E. Piaggio\", Universita di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Research Center \u201cE. Piaggio\u201d, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Research Center \"E. Piaggio\", Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5675","last_page":"5681"},"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":0.9994999766349792,"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":0.996399998664856,"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/controllability","display_name":"Controllability","score":0.8155126571655273},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7083699703216553},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6415271759033203},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6264045238494873},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6214720010757446},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5773305892944336},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.505683422088623},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.41687384247779846},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3952549993991852},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36100655794143677},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29950863122940063},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22459742426872253},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.18109428882598877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16034486889839172},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15493044257164001},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13190072774887085}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8155126571655273},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7083699703216553},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6415271759033203},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6264045238494873},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6214720010757446},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5773305892944336},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.505683422088623},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.41687384247779846},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3952549993991852},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36100655794143677},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29950863122940063},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22459742426872253},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.18109428882598877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16034486889839172},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15493044257164001},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13190072774887085},{"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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139994","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W177445597","https://openalex.org/W1564897360","https://openalex.org/W1970541897","https://openalex.org/W1979543088","https://openalex.org/W1988774188","https://openalex.org/W2000661156","https://openalex.org/W2046636826","https://openalex.org/W2056457588","https://openalex.org/W2057662595","https://openalex.org/W2072749588","https://openalex.org/W2097193816","https://openalex.org/W2110612452","https://openalex.org/W2120693140","https://openalex.org/W2122827816","https://openalex.org/W2131232094","https://openalex.org/W2142992961","https://openalex.org/W2170620244","https://openalex.org/W3147253688","https://openalex.org/W3217246742","https://openalex.org/W6607277442","https://openalex.org/W6633694296"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2561315646","https://openalex.org/W2332386680","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W4205698120","https://openalex.org/W4239246781","https://openalex.org/W2542825942","https://openalex.org/W3201620972","https://openalex.org/W1496421768"],"abstract_inverted_index":{"The":[0,74,145],"term":[1],"whole-body":[2],"loco-manipulation":[3],"refers":[4],"to":[5,29,48,128,136,174,183],"the":[6,16,20,34,51,55,59,83,96,105,108,113,117,122,130,138,148,161,176,188,196],"case":[7],"in":[8,27,65,153,181],"which":[9],"a":[10,38,141],"humanoid":[11],"robot":[12,52],"exploits":[13],"contacts":[14,159],"with":[15,19,23,192],"environment,":[17],"both":[18,164],"end-effectors":[21],"and":[22,78,88,112,166],"its":[24,89],"internal":[25,158],"limbs,":[26],"order":[28,182],"balance,":[30],"move":[31],"and/or":[32,54],"manipulate":[33],"environment.":[35,60],"In":[36],"such":[37],"situation,":[39],"high":[40],"degree":[41],"of":[42,70,76,107,116,119,140,147,163,199],"redundancy":[43],"may":[44],"not":[45],"be":[46,99,137],"sufficient":[47],"completely":[49],"control":[50],"movements":[53],"forces":[56,165,180],"applied":[57],"on":[58,95,187,195],"This":[61],"problem":[62],"is":[63,80,134,151,172],"tackled":[64],"this":[66],"work":[67],"by":[68],"means":[69],"quasi-static":[71],"analysis":[72],"tools.":[73],"reduction":[75],"mobility":[77],"manipulability":[79],"studied":[81],"introducing":[82],"Fundamental":[84],"Loco-Manipulation":[85],"Matrix":[86],"(FLMM)":[87],"canonical":[90],"form":[91],"(cFLMM).":[92],"Relevant":[93],"information":[94],"system":[97],"can":[98],"extracted":[100],"from":[101],"those,":[102],"obtaining,":[103],"e.g.,":[104],"space":[106],"controllable":[109,114],"contact":[110,124,179],"forces,":[111],"displacements":[115],"center":[118],"mass.":[120],"Furthermore,":[121],"best":[123],"force":[125],"distribution":[126],"able":[127],"meet":[129],"friction":[131,193],"cone":[132],"constraints":[133],"demonstrated":[135],"solution":[139],"convex":[142],"optimization":[143],"problem.":[144],"validity":[146],"proposed":[149],"methods":[150],"verified":[152],"two":[154],"numerical":[155],"examples,":[156],"where":[157],"affects":[160],"controllability":[162],"displacements.":[167],"Numerical":[168],"results":[169],"show":[170],"that":[171],"crucial":[173],"consider":[175],"correlations":[177],"between":[178],"exert":[184],"target":[185],"actions":[186],"environment":[189],"while":[190],"coping":[191],"limits":[194],"whole":[197],"set":[198],"contacts.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
