{"id":"https://openalex.org/W2054577881","doi":"https://doi.org/10.1109/iros.2014.6942678","title":"Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics","display_name":"Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2054577881","doi":"https://doi.org/10.1109/iros.2014.6942678","mag":"2054577881"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942678","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":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1305.2042","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102014112","display_name":"Alexander Herzog","orcid":"https://orcid.org/0000-0001-7671-1878"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Alexander Herzog","raw_affiliation_strings":["Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026007843","display_name":"Ludovic Righetti","orcid":"https://orcid.org/0000-0002-6458-9112"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Ludovic Righetti","raw_affiliation_strings":["Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","CLMC Lab, University of Southern California, Los Angeles, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"CLMC Lab, University of Southern California, Los Angeles, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081687578","display_name":"Felix Grimminger","orcid":"https://orcid.org/0000-0003-1744-0435"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Grimminger","raw_affiliation_strings":["Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103760848","display_name":"Peter P\u00e1stor","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Pastor","raw_affiliation_strings":["CLMC Lab, University of Southern California, Los Angeles, USA"],"affiliations":[{"raw_affiliation_string":"CLMC Lab, University of Southern California, Los Angeles, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107392143","display_name":"Stefan Schaal","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","CLMC Lab, University of Southern California, Los Angeles, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"CLMC Lab, University of Southern California, Los Angeles, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102014112"],"corresponding_institution_ids":["https://openalex.org/I4210135521"],"apc_list":null,"apc_paid":null,"fwci":13.0782,"has_fulltext":false,"cited_by_count":143,"citation_normalized_percentile":{"value":0.99235147,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"981","last_page":"988"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9830999970436096,"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/T10157","display_name":"Sports Performance and Training","score":0.9532999992370605,"subfield":{"id":"https://openalex.org/subfields/2732","display_name":"Orthopedics and Sports 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/humanoid-robot","display_name":"Humanoid robot","score":0.889051079750061},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7202908396720886},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.7160161733627319},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6659812331199646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6277874112129211},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.610234797000885},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5800825953483582},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5030800700187683},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47142428159713745},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4684959053993225},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4680846333503723},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4238315224647522},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4213871955871582},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24201437830924988},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23406195640563965},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.20751085877418518},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19424641132354736},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1877656877040863},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09438520669937134}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.889051079750061},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7202908396720886},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.7160161733627319},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6659812331199646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6277874112129211},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.610234797000885},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5800825953483582},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5030800700187683},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47142428159713745},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4684959053993225},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4680846333503723},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4238315224647522},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4213871955871582},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24201437830924988},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23406195640563965},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.20751085877418518},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19424641132354736},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1877656877040863},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09438520669937134},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2014.6942678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942678","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:arXiv.org:1305.2042","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1305.2042","pdf_url":"https://arxiv.org/pdf/1305.2042","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:escidoc.org:escidoc:2051313","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0024-D30E-9","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":[],"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":"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":{"id":"pmh:oai:arXiv.org:1305.2042","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1305.2042","pdf_url":"https://arxiv.org/pdf/1305.2042","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W28293053","https://openalex.org/W1498151138","https://openalex.org/W1964965610","https://openalex.org/W1989016128","https://openalex.org/W1991058191","https://openalex.org/W1991692529","https://openalex.org/W2005080926","https://openalex.org/W2016040484","https://openalex.org/W2046636826","https://openalex.org/W2062940189","https://openalex.org/W2063805130","https://openalex.org/W2080421646","https://openalex.org/W2086009575","https://openalex.org/W2088175395","https://openalex.org/W2100386752","https://openalex.org/W2116501050","https://openalex.org/W2118320757","https://openalex.org/W2125150855","https://openalex.org/W2141042553","https://openalex.org/W2142536379","https://openalex.org/W2154139861","https://openalex.org/W2160049112","https://openalex.org/W2162109810","https://openalex.org/W2296360731","https://openalex.org/W2397600194","https://openalex.org/W2539382986","https://openalex.org/W4241459016","https://openalex.org/W4254086355","https://openalex.org/W6629668719","https://openalex.org/W6651708320","https://openalex.org/W6680987510","https://openalex.org/W6822935082"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2291700020","https://openalex.org/W4386128912"],"abstract_inverted_index":{"Recently":[0],"several":[1],"hierarchical":[2,160],"inverse":[3,161],"dynamics":[4,162],"controllers":[5,163],"based":[6],"on":[7,17,31,132,182],"cascades":[8],"of":[9,54,60,73,90,123,149,170],"quadratic":[10],"programs":[11],"have":[12,22,27],"been":[13,29],"proposed":[14],"for":[15,63,167],"application":[16],"torque":[18,33,108],"controlled":[19,34],"robots.":[20],"They":[21],"important":[23],"theoretical":[24],"benefits":[25],"but":[26],"never":[28],"implemented":[30,181],"a":[32,64,88,106,113,137,140,183],"robot":[35,78,129],"where":[36],"model":[37,81],"inaccuracies":[38],"and":[39,173],"real-time":[40],"computation":[41,99],"requirements":[42],"can":[43,164,178],"be":[44,165,179],"problematic.":[45],"In":[46,136],"this":[47],"contribution":[48],"we":[49],"present":[50],"an":[51],"experimental":[52],"evaluation":[53],"these":[55],"algorithms":[56],"in":[57,105,121],"the":[58,71,74,91,128,147,150],"context":[59],"balance":[61,115,176],"control":[62,109,169,177],"humanoid":[65,171],"robot.":[66,185],"The":[67],"presented":[68],"experiments":[69],"demonstrate":[70,146],"applicability":[72],"approach":[75],"under":[76],"real":[77,184],"conditions":[79],"(i.e.":[80],"uncertainty,":[82],"estimation":[83],"errors,":[84],"etc).":[85],"We":[86,111],"propose":[87],"simplification":[89],"optimization":[92],"problem":[93],"that":[94,159,174],"allows":[95],"us":[96],"to":[97,102,145],"decrease":[98],"time":[100],"enough":[101],"implement":[103,112],"it":[104],"fast":[107],"loop.":[110],"momentum-based":[114,175],"controller":[116,151],"which":[117],"shows":[118],"robust":[119],"performance":[120,148],"face":[122],"unknown":[124],"disturbances,":[125],"even":[126],"when":[127],"is":[130,143],"standing":[131],"only":[133],"one":[134],"foot.":[135],"second":[138],"experiment,":[139],"tracking":[141],"task":[142],"evaluated":[144],"with":[152],"more":[153],"complicated":[154],"hierarchies.":[155],"Our":[156],"results":[157],"show":[158],"used":[166],"feedback":[168],"robots":[172],"efficiently":[180]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":21},{"year":2017,"cited_by_count":18},{"year":2016,"cited_by_count":22},{"year":2015,"cited_by_count":23},{"year":2014,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}