{"id":"https://openalex.org/W2413741937","doi":"https://doi.org/10.1109/icra.2016.7487293","title":"Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion","display_name":"Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2413741937","doi":"https://doi.org/10.1109/icra.2016.7487293","mag":"2413741937"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5033990176","display_name":"Christian Hubicki","orcid":"https://orcid.org/0000-0002-2092-3772"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Christian M. Hubicki","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069228447","display_name":"Ayonga Hereid","orcid":"https://orcid.org/0000-0002-4156-2013"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ayonga Hereid","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051264993","display_name":"Michael X. Grey","orcid":"https://orcid.org/0000-0002-8159-2428"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael X. Grey","raw_affiliation_strings":["Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066797327","display_name":"Andrea L. Thomaz","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrea L. Thomaz","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5033990176"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":1.052,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.76821173,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"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":0.9861999750137329,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9524000287055969,"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":0.8941826224327087},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7456623315811157},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6921831369400024},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6728344559669495},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6033159494400024},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5436843633651733},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5290117859840393},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.50635826587677},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4989912509918213},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.48520591855049133},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4749893248081207},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.4649333655834198},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45590394735336304},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.454147070646286},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4422619640827179},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4310721457004547},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41604042053222656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31314772367477417},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23929741978645325},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20194661617279053},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0830392837524414}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8941826224327087},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7456623315811157},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6921831369400024},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6728344559669495},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6033159494400024},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5436843633651733},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5290117859840393},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.50635826587677},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4989912509918213},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48520591855049133},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4749893248081207},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.4649333655834198},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45590394735336304},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.454147070646286},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4422619640827179},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4310721457004547},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41604042053222656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31314772367477417},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23929741978645325},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20194661617279053},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0830392837524414},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2016.7487293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:92783","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20190208-090232649","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"pmh:oai:smartech.gatech.edu:1853/55477","is_oa":false,"landing_page_url":"http://repository.gatech.edu/bitstreams/4b27b069-5080-4983-a53a-0d94a735c8ec/download","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W276848478","https://openalex.org/W1504362584","https://openalex.org/W1561445488","https://openalex.org/W1564897360","https://openalex.org/W1945123189","https://openalex.org/W1979062289","https://openalex.org/W1985249384","https://openalex.org/W2016381855","https://openalex.org/W2018860673","https://openalex.org/W2021512411","https://openalex.org/W2037729465","https://openalex.org/W2041550061","https://openalex.org/W2044459021","https://openalex.org/W2047174209","https://openalex.org/W2056223738","https://openalex.org/W2061983716","https://openalex.org/W2076787343","https://openalex.org/W2080132051","https://openalex.org/W2102884619","https://openalex.org/W2116341587","https://openalex.org/W2120420464","https://openalex.org/W2123871098","https://openalex.org/W2133859362","https://openalex.org/W2135383324","https://openalex.org/W2135929901","https://openalex.org/W2137547873","https://openalex.org/W2140190473","https://openalex.org/W2143717973","https://openalex.org/W2146469560","https://openalex.org/W2153190828","https://openalex.org/W2155658243","https://openalex.org/W2162109810","https://openalex.org/W2198582666","https://openalex.org/W2205975260","https://openalex.org/W2221321873","https://openalex.org/W2236379170","https://openalex.org/W2413990562","https://openalex.org/W6640461015","https://openalex.org/W6678106486","https://openalex.org/W6690051859"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W3134555460","https://openalex.org/W2731862817","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2136233762","https://openalex.org/W4389401105"],"abstract_inverted_index":{"Humanoid":[0],"robots":[1],"are":[2,87],"designed":[3],"with":[4,165],"dozens":[5],"of":[6,13,23,25,36,44,70,100,113,193],"actuated":[7,80],"joints":[8],"to":[9,52,103,110],"suit":[10],"a":[11,30,53,59,68,92,98,111,124,134,139,171,185],"variety":[12],"tasks,":[14],"but":[15,148],"walking":[16,163],"controllers":[17],"rarely":[18],"make":[19],"the":[20,34,37,42,76,104,114,126,155,190],"best":[21],"use":[22,35],"all":[24,79],"this":[26,65,108],"freedom.":[27],"We":[28,106,158],"present":[29,160],"framework":[31],"for":[32,41,75,78,188],"maximizing":[33],"full":[38,191],"humanoid":[39,115,194],"body":[40],"purpose":[43],"stable":[45],"dynamic":[46,156,162],"locomotion,":[47],"which":[48,72,118],"requires":[49],"no":[50],"restriction":[51],"planning":[54],"template":[55],"(e.g.":[56],"LIPM).":[57],"Using":[58],"hybrid":[60,174],"zero":[61,175],"dynamics":[62,176],"(HZD)":[63],"framework,":[64],"approach":[66,187],"optimizes":[67],"set":[69,99],"outputs":[71],"provides":[73],"requirements":[74],"motion":[77],"links,":[81],"including":[82],"arms.":[83],"These":[84],"output":[85],"equations":[86],"then":[88],"rapidly":[89],"solved":[90],"by":[91,133,179],"whole-body":[93],"inverse-kinematic":[94],"(IK)":[95],"solver,":[96],"providing":[97],"joint":[101],"trajectories":[102],"robot.":[105],"apply":[107],"procedure":[109],"simulation":[112],"robot,":[116],"DRC-HUBO,":[117],"has":[119],"over":[120],"27":[121],"actuators.":[122],"As":[123],"consequence,":[125],"resulting":[127],"gaits":[128,145],"swing":[129],"their":[130],"arms,":[131],"not":[132],"user":[135],"defining":[136],"swinging":[137],"motions":[138],"priori":[140],"or":[141],"superimposing":[142],"them":[143],"on":[144],"post":[146],"hoc,":[147],"as":[149,177],"an":[150],"emergent":[151],"behavior":[152],"from":[153],"optimizing":[154],"gait.":[157],"also":[159],"preliminary":[161],"experiments":[164],"DRC-HUBO":[166],"in":[167],"hardware,":[168],"thereby":[169],"building":[170],"case":[172],"that":[173],"augmented":[178],"inverse":[180],"kinematics":[181],"(HZD+IK)":[182],"is":[183],"becoming":[184],"viable":[186],"controlling":[189],"complexity":[192],"locomotion.":[195]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
