{"id":"https://openalex.org/W2164395348","doi":"https://doi.org/10.1109/iros.2011.6094445","title":"Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws","display_name":"Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2164395348","doi":"https://doi.org/10.1109/iros.2011.6094445","mag":"2164395348"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094445","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5014764259","display_name":"Alexander Dietrich","orcid":"https://orcid.org/0000-0003-3463-5074"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"A. Dietrich","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011391990","display_name":"Thomas Wimb\u00f6ck","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T. Wimbock","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080814983","display_name":"Alin Albu\u2010Sch\u00e4ffer","orcid":"https://orcid.org/0000-0001-5343-9074"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alin Albu-Schaffer","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014764259"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":10.3648,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.98374718,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3199","last_page":"3206"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7256444692611694},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.7230408191680908},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6563249230384827},{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.5599511861801147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5472755432128906},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5458838939666748},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5384445190429688},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5236101746559143},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44584712386131287},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43257948756217957},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4134942591190338},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41207098960876465},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3813242018222809},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.348929762840271},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34611988067626953},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30761390924453735}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7256444692611694},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7230408191680908},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6563249230384827},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.5599511861801147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5472755432128906},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5458838939666748},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5384445190429688},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5236101746559143},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44584712386131287},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43257948756217957},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4134942591190338},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41207098960876465},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3813242018222809},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.348929762840271},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34611988067626953},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30761390924453735},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094445","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1523815250","https://openalex.org/W1963726847","https://openalex.org/W1967377907","https://openalex.org/W1993999483","https://openalex.org/W2010690223","https://openalex.org/W2056156187","https://openalex.org/W2082069298","https://openalex.org/W2091086037","https://openalex.org/W2097446805","https://openalex.org/W2099870233","https://openalex.org/W2103120971","https://openalex.org/W2109153754","https://openalex.org/W2112474089","https://openalex.org/W2113842431","https://openalex.org/W2131666656","https://openalex.org/W2135929901","https://openalex.org/W2136379480","https://openalex.org/W2138346348","https://openalex.org/W2138671676","https://openalex.org/W2150024155","https://openalex.org/W2153577013","https://openalex.org/W2155566565","https://openalex.org/W2162488100","https://openalex.org/W2162930614","https://openalex.org/W2166085119","https://openalex.org/W2169673025","https://openalex.org/W2540104143","https://openalex.org/W6631107258"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2531662632","https://openalex.org/W2314176764","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W4386128912","https://openalex.org/W2910269320"],"abstract_inverted_index":{"Service":[0],"robotics":[1],"is":[2,109],"expected":[3],"to":[4,60,132],"be":[5,113,122],"established":[6],"in":[7,39],"human":[8],"households":[9],"and":[10,18,77,84,100],"environments":[11],"within":[12],"the":[13,45,58,67,85,96,98,101],"next":[14],"decades.":[15],"Therefore,":[16],"dexterous":[17],"flexible":[19],"behavior":[20],"of":[21,41,48,72],"these":[22,37],"systems":[23],"as":[24,26],"well":[25],"guaranteeing":[27],"safe":[28],"interaction":[29],"are":[30,130],"crucial":[31],"for":[32,44],"that":[33,111],"progress.":[34],"We":[35],"address":[36],"issues":[38],"terms":[40],"control":[42,54],"strategies":[43],"whole":[46],"body":[47],"DLR's":[49,128],"humanoid":[50],"Justin.":[51],"Via":[52],"impedance":[53],"laws,":[55],"we":[56],"enable":[57],"robot":[59],"realize":[61],"main":[62],"tasks":[63],"compliantly":[64],"while,":[65],"at":[66],"same":[68],"time,":[69],"taking":[70],"care":[71],"aspects":[73],"like":[74],"physical":[75],"limitations":[76],"collision":[78],"avoidance":[79],"with":[80],"its":[81],"own":[82],"structure":[83],"environment":[86],"autonomously.":[87],"The":[88],"controller":[89],"provides":[90],"a":[91],"natural":[92],"redundancy":[93],"resolution":[94],"between":[95],"arms,":[97],"torso":[99],"wheeled":[102],"platform.":[103],"A":[104],"low-dimensional":[105],"task":[106],"space":[107],"interface":[108],"proposed":[110],"can":[112,121],"used":[114],"by":[115],"planning":[116,119],"tools.":[117],"Thereby,":[118],"time":[120],"saved":[123],"significantly.":[124],"Experimental":[125],"results":[126],"on":[127],"Justin":[129],"presented":[131],"validate":[133],"our":[134],"approach.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}