{"id":"https://openalex.org/W1969086435","doi":"https://doi.org/10.1109/iros.2012.6385978","title":"Internal model control for improving the gait tracking of a compliant humanoid robot","display_name":"Internal model control for improving the gait tracking of a compliant humanoid robot","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1969086435","doi":"https://doi.org/10.1109/iros.2012.6385978","mag":"1969086435"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385978","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5089396627","display_name":"Luca Colasanto","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Luca Colasanto","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova 16163, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova 16163, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova 16163, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova 16163, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5089396627"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.6051,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.67497921,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"5347","last_page":"5352"},"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9937000274658203,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7947295904159546},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6326150894165039},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6102493405342102},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5984320640563965},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5845030546188354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.563376784324646},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.48150762915611267},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4647224545478821},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45538002252578735},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4351257085800171},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4119095206260681},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36162668466567993},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3274664282798767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2703774869441986},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24811390042304993},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.231713205575943}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7947295904159546},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6326150894165039},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6102493405342102},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5984320640563965},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5845030546188354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.563376784324646},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.48150762915611267},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4647224545478821},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45538002252578735},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4351257085800171},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4119095206260681},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36162668466567993},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3274664282798767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2703774869441986},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24811390042304993},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.231713205575943},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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":2,"locations":[{"id":"doi:10.1109/iros.2012.6385978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385978","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unige.it:11567/798199","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/798199","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320325847","display_name":"Istituto Italiano di Tecnologia","ror":"https://ror.org/042t93s57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1507570408","https://openalex.org/W1987580649","https://openalex.org/W1994513760","https://openalex.org/W1995090200","https://openalex.org/W2002695800","https://openalex.org/W2037729465","https://openalex.org/W2094238924","https://openalex.org/W2107643544","https://openalex.org/W2128052563","https://openalex.org/W2142992961","https://openalex.org/W2144834630","https://openalex.org/W2145477224","https://openalex.org/W2152957885","https://openalex.org/W2154874053","https://openalex.org/W2155614956","https://openalex.org/W2157088971","https://openalex.org/W2161227744","https://openalex.org/W2168965943","https://openalex.org/W2170519810","https://openalex.org/W6630531309","https://openalex.org/W6683165144"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W4256317079","https://openalex.org/W2350715914","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W2016381855","https://openalex.org/W2776995446","https://openalex.org/W2151627114"],"abstract_inverted_index":{"This":[0],"paper":[1],"reports":[2],"on":[3,99,162],"the":[4,33,43,53,67,82,93,96,106,109,115,127,134,144,149,163],"modelling":[5],"and":[6,28,160],"trajectory":[7],"generation":[8],"of":[9,45,95,108,111,114,133,170],"an":[10,61,118],"intrinsically":[11],"compliant":[12,23,89,116],"humanoid":[13],"robot.":[14],"To":[15,41],"achieve":[16],"adequate":[17],"gait":[18,47,128],"tracking":[19,129,145],"performance":[20,146],"in":[21],"a":[22,78,88,168],"robot":[24,68,117],"is":[25,71,123,136,157],"not":[26],"trivial":[27],"cannot":[29],"be":[30],"addressed":[31],"with":[32,87],"traditional":[34],"control":[35],"approaches":[36],"used":[37],"for":[38],"stiff":[39],"robots.":[40],"permit":[42],"development":[44],"effective":[46],"generators":[48],"which":[49,64,80,102,142],"take":[50],"into":[51],"account":[52],"additional":[54],"dynamic":[55],"effects":[56],"due":[57],"to":[58,104,125],"intrinsic":[59],"compliance,":[60],"appropriate":[62],"model":[63,79,85,90,101,135],"can":[65],"predict":[66,105],"motion":[69,107],"dynamics":[70],"required.":[72],"In":[73],"this":[74,100],"work,":[75],"we":[76],"propose":[77],"combines":[81],"inverted":[83],"pendulum":[84],"approach":[86],"(Cartesian)":[91],"at":[92],"level":[94],"COM.":[97],"Based":[98],"permits":[103],"centre":[110],"mass":[112],"(COM)":[113],"Internal":[119,154],"Model":[120,155],"Control":[121,156],"strategy":[122],"adopted":[124],"improve":[126],"performance.":[130],"The":[131,153],"derivation":[132],"introduced":[137],"followed":[138],"by":[139,148],"experimental":[140],"validation":[141],"demonstrates":[143],"achieved":[147],"proposed":[150],"reduced":[151],"model.":[152],"subsequently":[158],"discussed":[159],"validated":[161],"COmpliant":[164],"huMANoid":[165],"COMAN":[166],"using":[167],"series":[169],"ZMP":[171],"based":[172],"walking":[173],"gaits.":[174]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
