{"id":"https://openalex.org/W3205106200","doi":"https://doi.org/10.1109/icra48506.2021.9561872","title":"Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum","display_name":"Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205106200","doi":"https://doi.org/10.1109/icra48506.2021.9561872","mag":"3205106200"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561872","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5043901029","display_name":"Shunpeng Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shunpeng Yang","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001058965","display_name":"Hua Chen","orcid":"https://orcid.org/0000-0002-4252-8693"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Chen","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100447102","display_name":"Luyao Zhang","orcid":"https://orcid.org/0000-0002-0298-4985"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Luyao Zhang","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075903634","display_name":"Zhefeng Cao","orcid":"https://orcid.org/0000-0002-5660-7683"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhefeng Cao","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029126529","display_name":"Patrick M. Wensing","orcid":"https://orcid.org/0000-0002-9041-5175"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick M. Wensing","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Notre Dame, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Notre Dame, USA","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078694785","display_name":"Yizhang Liu","orcid":"https://orcid.org/0000-0002-9397-6736"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yizhang Liu","raw_affiliation_strings":["UBTECH Robotics Inc"],"affiliations":[{"raw_affiliation_string":"UBTECH Robotics Inc","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040709029","display_name":"Jianxin Pang","orcid":"https://orcid.org/0000-0002-3985-5802"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianxin Pang","raw_affiliation_strings":["UBTECH Robotics Inc"],"affiliations":[{"raw_affiliation_string":"UBTECH Robotics Inc","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100441694","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-7511-2870"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5043901029"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":0.2507,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.49837946,"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":"3054","last_page":"3060"},"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9865999817848206,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.8309887647628784},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.7665627002716064},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7634522318840027},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6481984853744507},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.586219847202301},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5307937264442444},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5214049816131592},{"id":"https://openalex.org/keywords/double-inverted-pendulum","display_name":"Double inverted pendulum","score":0.5199938416481018},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4824672043323517},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4257677495479584},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.42274874448776245},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4126947224140167},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3327968418598175},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2562955915927887},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.21771153807640076},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1342099905014038},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07495900988578796},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07248541712760925}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8309887647628784},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.7665627002716064},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7634522318840027},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6481984853744507},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.586219847202301},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5307937264442444},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5214049816131592},{"id":"https://openalex.org/C102540577","wikidata":"https://www.wikidata.org/wiki/Q5300047","display_name":"Double inverted pendulum","level":4,"score":0.5199938416481018},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4824672043323517},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4257677495479584},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.42274874448776245},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4126947224140167},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3327968418598175},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2562955915927887},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.21771153807640076},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1342099905014038},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07495900988578796},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07248541712760925},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561872","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.49000000953674316}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322551","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W129643872","https://openalex.org/W168874853","https://openalex.org/W566530810","https://openalex.org/W1512691241","https://openalex.org/W1578936488","https://openalex.org/W1945123189","https://openalex.org/W1994275787","https://openalex.org/W2000535285","https://openalex.org/W2079995373","https://openalex.org/W2116364955","https://openalex.org/W2120693140","https://openalex.org/W2147285788","https://openalex.org/W2151182239","https://openalex.org/W2153190828","https://openalex.org/W2158782408","https://openalex.org/W2162109810","https://openalex.org/W2341336767","https://openalex.org/W2523146987","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W2570283482","https://openalex.org/W2570508284","https://openalex.org/W2735356792","https://openalex.org/W2807455070","https://openalex.org/W2964040381","https://openalex.org/W2964324732","https://openalex.org/W2967793392","https://openalex.org/W3089937392","https://openalex.org/W3104751372","https://openalex.org/W3135791089","https://openalex.org/W3147253688","https://openalex.org/W4239369248","https://openalex.org/W4245376853","https://openalex.org/W4285719527","https://openalex.org/W6605425664","https://openalex.org/W6606935068","https://openalex.org/W6727837994"],"related_works":["https://openalex.org/W2041698009","https://openalex.org/W2024927487","https://openalex.org/W1492838287","https://openalex.org/W2034778971","https://openalex.org/W2349578589","https://openalex.org/W2893549521","https://openalex.org/W2204278379","https://openalex.org/W2381121570","https://openalex.org/W2379721524","https://openalex.org/W2341932412"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"push":[3,117,165],"recovery":[4,118],"for":[5,21,79,86,110],"humanoid":[6,129],"robots":[7],"based":[8,32,136,172],"on":[9,33,71,173],"a":[10,29,47,65,74,127,161],"variable-height":[11],"inverted":[12,177],"pendulum":[13,178],"(VHIP)":[14],"model.":[15,179],"We":[16],"first":[17],"develop":[18],"an":[19,39,104,131],"approach":[20,40],"treating":[22],"zero-step":[23,94],"capturability":[24,52],"of":[25,46,53,123,143],"the":[26,42,54,57,89,98,114,124,144,150,155,170,174],"VHIP":[27,90,115],"with":[28,113,126,149],"novel":[30],"methodology":[31],"Hamilton-Jacobi":[34],"(HJ)":[35],"reachability":[36,100],"analysis.":[37],"Such":[38],"uses":[41],"sub-zero":[43],"level":[44],"set":[45],"value":[48,58],"function":[49,59],"to":[50,169],"encode":[51],"VHIP,":[55],"where":[56,88],"is":[60,83,92,139,147],"obtained":[61],"by":[62],"numerically":[63],"solving":[64],"HJ":[66,99],"variational":[67],"inequality":[68],"offline.":[69],"Based":[70],"this":[72],"analysis,":[73],"simple":[75],"and":[76],"effective":[77],"method":[78],"adjusting":[80],"foothold":[81],"locations":[82],"then":[84],"devised":[85],"cases":[87],"state":[91],"not":[93],"capturable.":[95],"In":[96],"addition,":[97],"analysis":[101],"naturally":[102],"induces":[103],"optimal":[105],"control":[106],"law":[107],"that":[108],"allows":[109],"rapid":[111],"planning":[112],"during":[116],"online.":[119],"To":[120],"enable":[121],"use":[122],"strategy":[125],"position-controlled":[128],"robot,":[130],"associated":[132],"differential":[133],"inverse":[134],"kinematics":[135],"tracking":[137],"controller":[138],"employed.":[140],"The":[141],"effectiveness":[142],"overall":[145],"framework":[146],"demonstrated":[148],"UBTECH":[151],"Walker":[152],"robot":[153],"in":[154,164],"MuJoCo":[156],"simulator.":[157],"Simulation":[158],"validations":[159],"show":[160],"significant":[162],"improvement":[163],"robustness":[166],"as":[167],"compared":[168],"methods":[171],"classical":[175],"linear":[176]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
