{"id":"https://openalex.org/W1989437356","doi":"https://doi.org/10.1109/iros.2013.6696947","title":"Stabilizing humanoids on slopes using terrain inclination estimation","display_name":"Stabilizing humanoids on slopes using terrain inclination estimation","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W1989437356","doi":"https://doi.org/10.1109/iros.2013.6696947","mag":"1989437356"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3432726","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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":true,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, 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, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, 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, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100351560"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.7986,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.83769385,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4124","last_page":"4129"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9950000047683716,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"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/terrain","display_name":"Terrain","score":0.8387000560760498},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5406602621078491},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.520379900932312},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39910975098609924},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.37217602133750916},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.329487144947052},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3211272656917572},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17466777563095093},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14660346508026123},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.07760739326477051}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8387000560760498},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5406602621078491},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.520379900932312},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39910975098609924},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.37217602133750916},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.329487144947052},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3211272656917572},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17466777563095093},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14660346508026123},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.07760739326477051},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:3432726","is_oa":true,"landing_page_url":"https://zenodo.org/record/3432726","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3432726","is_oa":true,"landing_page_url":"https://zenodo.org/record/3432726","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2032094051","https://openalex.org/W2046636826","https://openalex.org/W2056156187","https://openalex.org/W2062940189","https://openalex.org/W2080421646","https://openalex.org/W2089476757","https://openalex.org/W2097446805","https://openalex.org/W2122827816","https://openalex.org/W2127828969","https://openalex.org/W2139889932","https://openalex.org/W2141022958","https://openalex.org/W2152957885","https://openalex.org/W2155625664","https://openalex.org/W2162689750","https://openalex.org/W3141890873"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2772917594","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"integrated":[4],"control":[5,15,28,70],"framework":[6],"for":[7,74],"balancing":[8,107],"humanoids":[9],"on":[10,60,77,95,108],"uneven":[11],"terrains":[12],"combining":[13],"stabilization":[14,21],"and":[16,53,84,93,114,135,141],"terrain":[17,43,51,105],"inclination":[18,52,125],"estimation.":[19],"The":[20,41,64,89],"is":[22,71,91],"realized":[23],"by":[24,99],"passivity":[25],"based":[26],"admittance":[27,69],"that":[29],"utilizes":[30],"the":[31,39,50,61,68,78,81,96,101,109,119,128],"force/torque":[32],"feedback":[33],"in":[34,67,118,127],"feet":[35,47,58],"to":[36,48],"actively":[37],"regulate":[38],"compliance.":[40],"logic-based":[42],"estimation":[44,126],"algorithm":[45],"exploits":[46],"probe":[49],"deals":[54],"with":[55,111],"underactuation":[56],"when":[57],"tilt":[59],"contact":[62],"surface.":[63],"equilibrium":[65],"position":[66],"thereby":[72],"adapted":[73],"recovering":[75],"balance":[76],"slope.":[79],"Both":[80],"theoretical":[82],"work":[83],"experimental":[85],"validation":[86],"are":[87,139],"presented.":[88],"method":[90],"implemented":[92],"validated":[94],"real":[97],"humanoid":[98],"demonstrating":[100],"capability":[102],"of":[103,132],"estimating":[104],"inclination,":[106],"slope":[110],"varying":[112],"gradient,":[113],"maintaining":[115],"upright":[116],"posture":[117],"meantime.":[120],"Experimental":[121],"data":[122],"such":[123],"as":[124],"comparison":[129],"study,":[130],"center":[131],"pressure":[133],"measurement,":[134],"body":[136],"attitude":[137],"compensation":[138],"presented":[140],"analyzed.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
