{"id":"https://openalex.org/W2133031383","doi":"https://doi.org/10.1109/iros.2011.6094874","title":"A computational approach for push recovery in case of multiple noncoplanar contacts","display_name":"A computational approach for push recovery in case of multiple noncoplanar contacts","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2133031383","doi":"https://doi.org/10.1109/iros.2011.6094874","mag":"2133031383"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094874","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/A5047524118","display_name":"Darine Mansour","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210097138","display_name":"CEA Paris-Saclay - Etablissement de Fontenay-aux-roses","ror":"https://ror.org/010j2gw05","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210097138","https://openalex.org/I4210128565"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Darine Mansour","raw_affiliation_strings":["LIST, Interactive Simulation Laboratory, CEA, Fontenay Aux Roses, France","CEA LIST, Interactive Simulation Laboratory, 18, route du Panorama, BP6, FONTENAY AUX ROSES, F-92265 France"],"affiliations":[{"raw_affiliation_string":"LIST, Interactive Simulation Laboratory, CEA, Fontenay Aux Roses, France","institution_ids":["https://openalex.org/I4210097138","https://openalex.org/I2738703131","https://openalex.org/I4210085861"]},{"raw_affiliation_string":"CEA LIST, Interactive Simulation Laboratory, 18, route du Panorama, BP6, FONTENAY AUX ROSES, F-92265 France","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039093274","display_name":"Alain Micaelli","orcid":null},"institutions":[{"id":"https://openalex.org/I4210097138","display_name":"CEA Paris-Saclay - Etablissement de Fontenay-aux-roses","ror":"https://ror.org/010j2gw05","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210097138","https://openalex.org/I4210128565"]},{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alain Micaelli","raw_affiliation_strings":["LIST, Interactive Simulation Laboratory, CEA, Fontenay Aux Roses, France","CEA LIST, Interactive Simulation Laboratory, 18, route du Panorama, BP6, FONTENAY AUX ROSES, F-92265 France"],"affiliations":[{"raw_affiliation_string":"LIST, Interactive Simulation Laboratory, CEA, Fontenay Aux Roses, France","institution_ids":["https://openalex.org/I4210097138","https://openalex.org/I2738703131","https://openalex.org/I4210085861"]},{"raw_affiliation_string":"CEA LIST, Interactive Simulation Laboratory, 18, route du Panorama, BP6, FONTENAY AUX ROSES, F-92265 France","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029549142","display_name":"Pierre Lemerle","orcid":null},"institutions":[{"id":"https://openalex.org/I85905123","display_name":"Institut National de Recherche et de S\u00e9curit\u00e9","ror":"https://ror.org/01dg85j68","country_code":"FR","type":"funder","lineage":["https://openalex.org/I85905123"]},{"id":"https://openalex.org/I39481719","display_name":"Institut National de la Recherche Scientifique","ror":"https://ror.org/04td37d32","country_code":"CA","type":"education","lineage":["https://openalex.org/I39481719","https://openalex.org/I49663120"]}],"countries":["CA","FR"],"is_corresponding":false,"raw_author_name":"Pierre Lemerle","raw_affiliation_strings":["Department of Work Equipments Engineering, INRS, Vandoeuvre Les Nancy, France","INRS, Department of Work Equipments Engineering, Rue du Morvan, Vandoeuvre Les Nancy F-54519 France"],"affiliations":[{"raw_affiliation_string":"Department of Work Equipments Engineering, INRS, Vandoeuvre Les Nancy, France","institution_ids":["https://openalex.org/I85905123"]},{"raw_affiliation_string":"INRS, Department of Work Equipments Engineering, Rue du Morvan, Vandoeuvre Les Nancy F-54519 France","institution_ids":["https://openalex.org/I39481719"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5047524118"],"corresponding_institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210097138"],"apc_list":null,"apc_paid":null,"fwci":2.073,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.86726862,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3213","last_page":"3220"},"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.9812999963760376,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9779999852180481,"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/context","display_name":"Context (archaeology)","score":0.6269018650054932},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6192538738250732},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6075642704963684},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6041065454483032},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5728504061698914},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.49237048625946045},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47134682536125183},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4127911329269409},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.364523708820343},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18265607953071594},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07649201154708862}],"concepts":[{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6269018650054932},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6192538738250732},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6075642704963684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6041065454483032},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5728504061698914},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.49237048625946045},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47134682536125183},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4127911329269409},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.364523708820343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18265607953071594},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07649201154708862},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094874","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W2037729465","https://openalex.org/W2062940189","https://openalex.org/W2115320056","https://openalex.org/W2116173495","https://openalex.org/W2116310395","https://openalex.org/W2125126490","https://openalex.org/W2127763473","https://openalex.org/W2128166584","https://openalex.org/W2150388681","https://openalex.org/W2153190828","https://openalex.org/W2155625664","https://openalex.org/W2160111545","https://openalex.org/W2165739402","https://openalex.org/W2168377523","https://openalex.org/W2497309206","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W2545165891","https://openalex.org/W4241522606","https://openalex.org/W6729461742"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W2536076676","https://openalex.org/W107892592"],"abstract_inverted_index":{"This":[0,54],"paper":[1],"presents":[2],"a":[3,12,22,43,60,69,81,90,93],"new":[4],"computational":[5],"approach":[6,18],"for":[7],"humanoid":[8],"push":[9],"recovery":[10],"in":[11,42],"generalized":[13],"noncoplanar":[14],"multicontact":[15],"context.":[16],"Our":[17],"is":[19],"based":[20],"on":[21],"simplified":[23],"model":[24],"and":[25],"consists":[26,67],"of":[27,68,92],"two":[28],"main":[29],"steps.":[30],"The":[31,64],"first":[32],"one":[33,66,88],"predicts":[34],"whether":[35],"the":[36,52,73,86],"perturbed":[37],"system":[38],"can":[39,56],"be":[40,57,78],"stopped":[41],"final":[44],"static":[45],"state":[46],"while":[47],"maintaining":[48],"fixed":[49],"contacts":[50],"with":[51],"environment.":[53],"prediction":[55],"seen":[58],"as":[59,85],"dynamic":[61],"stability":[62,76],"indicator.":[63],"second":[65],"strategy":[70],"that":[71],"stabilizes":[72],"system,":[74],"when":[75],"cannot":[77],"reached,":[79],"through":[80],"contact":[82,96],"change":[83],"chosen":[84],"best":[87],"among":[89],"set":[91],"priori":[94],"possible":[95],"changes.":[97]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
