{"id":"https://openalex.org/W2022250862","doi":"https://doi.org/10.1109/iros.2014.6942673","title":"Lyapunov Stability Margins for humanoid robot balancing","display_name":"Lyapunov Stability Margins for humanoid robot balancing","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2022250862","doi":"https://doi.org/10.1109/iros.2014.6942673","mag":"2022250862"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.sorbonne-universite.fr/hal-01394903","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078798098","display_name":"Emmanouil Spyrakos-Papastavridis","orcid":"https://orcid.org/0000-0001-7448-8529"},"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":"Emmanouil Spyrakos-Papastavridis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113466514","display_name":"Nicolas Perrin","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Perrin","raw_affiliation_strings":["Institut des Syst\u00e8mes Intelligents et de Robotique, Universit\u00e9 Pierre et Marie Curie, Paris cedex 05, France","Institut des Syst\u00e8mes Intelligents et de Robotique, CNRS UMR 7222 & Universit\u00e9 Pierre et Marie Curie, 4 place Jussieu, 75252 Paris cedex 05, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut des Syst\u00e8mes Intelligents et de Robotique, Universit\u00e9 Pierre et Marie Curie, Paris cedex 05, France","institution_ids":["https://openalex.org/I4210150358"]},{"raw_affiliation_string":"Institut des Syst\u00e8mes Intelligents et de Robotique, CNRS UMR 7222 & Universit\u00e9 Pierre et Marie Curie, 4 place Jussieu, 75252 Paris cedex 05, France","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I1294671590","https://openalex.org/I39804081"]}]},{"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","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040440410","display_name":"Jian S. Dai","orcid":"https://orcid.org/0000-0002-9729-1662"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jian S. Dai","raw_affiliation_strings":["Centre for Robotics Research, King's College London, London, England, United Kingdom","Centre for Robotics Research, King's College London, Strand, WC2R 2LS, England, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King's College London, London, England, United Kingdom","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Centre for Robotics Research, King's College London, Strand, WC2R 2LS, England, United Kingdom","institution_ids":["https://openalex.org/I183935753"]}]},{"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","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"945","last_page":"951"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9926000237464905,"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":0.9800999760627747,"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":0.8648840188980103},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6789485812187195},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6672152280807495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5707005262374878},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5440633893013},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.448845237493515},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4403517544269562},{"id":"https://openalex.org/keywords/control-lyapunov-function","display_name":"Control-Lyapunov function","score":0.43448638916015625},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.3535415530204773},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2448146641254425},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18629783391952515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17411509156227112},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13498836755752563},{"id":"https://openalex.org/keywords/lyapunov-exponent","display_name":"Lyapunov exponent","score":0.0777401328086853}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8648840188980103},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6789485812187195},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6672152280807495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5707005262374878},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5440633893013},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.448845237493515},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4403517544269562},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.43448638916015625},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.3535415530204773},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2448146641254425},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18629783391952515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17411509156227112},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13498836755752563},{"id":"https://openalex.org/C191544260","wikidata":"https://www.wikidata.org/wiki/Q1238630","display_name":"Lyapunov exponent","level":3,"score":0.0777401328086853},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2777052490","wikidata":"https://www.wikidata.org/wiki/Q5072826","display_name":"Chaotic","level":2,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2014.6942673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01394903v1","is_oa":true,"landing_page_url":"https://hal.sorbonne-universite.fr/hal-01394903","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. ⟨10.1109/IROS.2014.6942673⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/390c9aa2-78a2-43eb-a511-466f84676a96","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/390c9aa2-78a2-43eb-a511-466f84676a96","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Spyrakos-Papastavridis , E , Perrin , N , Tsagarakis , N G , Dai , J S & Caldwell , D G 2014 , Lyapunov Stability Margins for Humanoid Robot Balancing . in IEEE International Conference on Intelligent Robots and Systems . , 6942673 , pp. 945-951 , 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 , Chicago , United States , 14/09/2014 . https://doi.org/10.1109/IROS.2014.6942673","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01394903v1","is_oa":true,"landing_page_url":"https://hal.sorbonne-universite.fr/hal-01394903","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. ⟨10.1109/IROS.2014.6942673⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338370","display_name":"FP7 Information and Communication Technologies","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W129643872","https://openalex.org/W1968160270","https://openalex.org/W1978330878","https://openalex.org/W1983725613","https://openalex.org/W1994275787","https://openalex.org/W2037729465","https://openalex.org/W2051287096","https://openalex.org/W2070678459","https://openalex.org/W2097446805","https://openalex.org/W2102637790","https://openalex.org/W2112817830","https://openalex.org/W2122827816","https://openalex.org/W2122903487","https://openalex.org/W2127763473","https://openalex.org/W2128166584","https://openalex.org/W2133859362","https://openalex.org/W2139816686","https://openalex.org/W2147285788","https://openalex.org/W2150713722","https://openalex.org/W2152957885","https://openalex.org/W2154874053","https://openalex.org/W2155625664","https://openalex.org/W2158284841","https://openalex.org/W2163683993","https://openalex.org/W2165178808","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W6605425664"],"related_works":["https://openalex.org/W3217133416","https://openalex.org/W2349796700","https://openalex.org/W1970635650","https://openalex.org/W2475132469","https://openalex.org/W2383986032","https://openalex.org/W2126112326","https://openalex.org/W2358066536","https://openalex.org/W1976574339","https://openalex.org/W2496188264","https://openalex.org/W2147929414"],"abstract_inverted_index":{"This":[0],"work":[1],"introduces":[2],"a":[3,23,38,75,90,135,173],"novel":[4],"balance":[5,20,34,174],"monitoring":[6,29],"strategy":[7],"for":[8,52,148],"humanoid":[9,24],"robots.":[10],"The":[11,42],"proposed":[12,43],"method":[13,44,81],"addresses":[14],"the":[15,19,27,46,54,63,69,84,99,102,119,126,132,139,142,149,162,167],"problem":[16],"of":[17,22,30,33,37,48,68,86,98,118,125,154],"ensuring":[18,108],"maintenance":[21],"robot,":[25],"through":[26,89],"online":[28],"its":[31,112],"state":[32],"by":[35],"means":[36],"Lyapunov":[39,77],"(energy)":[40],"function.":[41,78],"involves":[45],"use":[47],"dynamical":[49,113],"models":[50],"accounting":[51],"both":[53],"link":[55],"and":[56,65,141,157,170],"motor":[57],"states.":[58],"Energy":[59],"limits":[60],"corresponding":[61],"to":[62,107],"front":[64],"rear":[66],"edges":[67],"support":[70],"polygon":[71],"are":[72],"computed":[73],"using":[74],"closed-loop":[76],"Therefore,":[79],"this":[80],"focuses":[82],"on":[83,161],"resolution":[85],"two":[87],"issues":[88],"single":[91],"control":[92],"scheme,":[93],"namely,":[94],"guaranteeing":[95],"asymptotical":[96],"stability":[97],"robot":[100],"at":[101],"joint":[103],"level,":[104],"in":[105,131],"addition":[106],"that":[109],"it":[110],"maintains":[111],"balance.":[114],"A":[115],"mathematical":[116],"proof":[117],"previous":[120],"claims,":[121],"as":[122,124,172],"well":[123],"method's":[127,168],"validity,":[128],"is":[129],"provided":[130],"paper,":[133],"whereby":[134],"direct":[136],"relationship":[137],"between":[138],"CoP":[140],"system's":[143],"energy":[144],"has":[145],"been":[146],"established":[147],"first":[150],"time.":[151],"Experimental":[152],"results":[153],"step":[155],"recovery":[156],"walking":[158],"tests":[159],"performed":[160],"COmpliant":[163],"huMANoid":[164],"(COMAN)":[165],"corroborate":[166],"applicability":[169],"performance":[171],"monitor.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}