{"id":"https://openalex.org/W2891235614","doi":"https://doi.org/10.1109/icra.2018.8460500","title":"Realization of a Real-Time Optimal Control Strategy to Stabilize a Falling Humanoid Robot with Hand Contact","display_name":"Realization of a Real-Time Optimal Control Strategy to Stabilize a Falling Humanoid Robot with Hand Contact","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2891235614","doi":"https://doi.org/10.1109/icra.2018.8460500","mag":"2891235614"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460500","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5100707116","display_name":"Shihao Wang","orcid":"https://orcid.org/0000-0002-8688-1034"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shihao Wang","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027878263","display_name":"Kris Hauser","orcid":"https://orcid.org/0000-0002-5207-1527"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kris Hauser","raw_affiliation_strings":["Departments of Electrical and Computer Engineering and Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departments of Electrical and Computer Engineering and Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170897317"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3092","last_page":"3098"},"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":0.9980999827384949,"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":0.9824000000953674,"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":0.8361287117004395},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7214105725288391},{"id":"https://openalex.org/keywords/falling","display_name":"Falling (accident)","score":0.7106212377548218},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5507881045341492},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5265179872512817},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5193066000938416},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.49996256828308105},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.49014100432395935},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48091885447502136},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.4541681110858917},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.43356478214263916},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.421735554933548},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4142484664916992},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3302403688430786},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3091687560081482},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2680906653404236},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2507959306240082},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11179840564727783}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8361287117004395},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7214105725288391},{"id":"https://openalex.org/C2779079380","wikidata":"https://www.wikidata.org/wiki/Q333495","display_name":"Falling (accident)","level":2,"score":0.7106212377548218},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5507881045341492},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5265179872512817},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5193066000938416},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.49996256828308105},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.49014100432395935},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48091885447502136},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.4541681110858917},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.43356478214263916},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.421735554933548},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4142484664916992},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3302403688430786},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3091687560081482},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2680906653404236},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2507959306240082},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11179840564727783},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8460500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460500","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W618146950","https://openalex.org/W1563151479","https://openalex.org/W1972939092","https://openalex.org/W1978455214","https://openalex.org/W1994079251","https://openalex.org/W2000553994","https://openalex.org/W2036188855","https://openalex.org/W2085746528","https://openalex.org/W2112817830","https://openalex.org/W2122048431","https://openalex.org/W2122903487","https://openalex.org/W2133032823","https://openalex.org/W2151182239","https://openalex.org/W2153356365","https://openalex.org/W2168158701","https://openalex.org/W2218389626","https://openalex.org/W2522480999","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W2545906379","https://openalex.org/W2604346572","https://openalex.org/W2782858773","https://openalex.org/W3045167461","https://openalex.org/W6619321168","https://openalex.org/W6633972438","https://openalex.org/W6644863135","https://openalex.org/W6650400453","https://openalex.org/W6676974101","https://openalex.org/W6677990091","https://openalex.org/W6682411715","https://openalex.org/W6727705921","https://openalex.org/W6728646705","https://openalex.org/W6728905442"],"related_works":["https://openalex.org/W815011690","https://openalex.org/W2543019745","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2163555676","https://openalex.org/W4389401105","https://openalex.org/W4390481035","https://openalex.org/W2778262232"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,125],"present":[4],"a":[5,12,49,60,96,102,127,136],"real-time":[6],"falling":[7,21,68,155],"robot":[8,14,18,99,117,134,146],"stabilization":[9,69],"system":[10,43],"for":[11,67,107],"humanoid":[13],"in":[15,30,70,94,151],"which":[16],"the":[17,31,71,91,108,116,133,144],"can":[19],"prevent":[20],"using":[22],"hand":[23,79,109],"contact":[24,50,80,110],"with":[25,39,83],"walls":[26],"and":[27,55,75,88,101,147,154],"other":[28],"surfaces":[29],"environment.":[32],"Instead":[33],"of":[34,105],"ignoring":[35],"or":[36],"avoiding":[37],"interaction":[38],"environmental":[40],"obstacles,":[41],"our":[42],"uses":[44,59],"obstacle":[45],"geometry":[46],"to":[47,89,131,135],"determine":[48],"point":[51],"that":[52,64],"reduces":[53],"impact":[54],"necessary":[56],"friction.":[57],"It":[58],"planar":[61],"dynamic":[62],"model":[63,100],"is":[65,81,118,141,149],"appropriate":[66],"robot's":[72],"sagittal":[73],"plane":[74],"frontal":[76],"plane.":[77],"The":[78],"determined":[82],"an":[84],"optimal":[85],"control":[86],"approach,":[87],"make":[90],"algorithm":[92],"run":[93],"realtime,":[95],"simplified":[97],"three-link":[98],"pre-computed":[103],"database":[104],"subproblems":[106],"optimization":[111],"are":[112],"adopted.":[113],"Moreover,":[114],"if":[115],"not":[119],"leaning":[120],"too":[121],"far":[122],"after":[123],"stabilization,":[124],"employ":[126],"heuristic":[128],"push-up":[129],"strategy":[130],"recover":[132],"standing":[137],"posture.":[138],"System":[139],"integration":[140],"performed":[142],"on":[143],"Darwin-Mini":[145],"validation":[148],"conducted":[150],"several":[152],"environments":[153],"scenarios.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}