{"id":"https://openalex.org/W2038054381","doi":"https://doi.org/10.1109/iros.2014.6943010","title":"Partial force control of constrained floating-base robots","display_name":"Partial force control of constrained floating-base robots","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2038054381","doi":"https://doi.org/10.1109/iros.2014.6943010","mag":"2038054381"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943010","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":"http://hdl.handle.net/10026.1/9533","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038165484","display_name":"Andrea Del Prete","orcid":"https://orcid.org/0000-0003-1275-2851"},"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/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrea Del Prete","raw_affiliation_strings":["LAAS/CNRS, Toulouse, France","\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS/CNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046876471","display_name":"Nicolas Mansard","orcid":"https://orcid.org/0000-0002-8090-0601"},"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/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Mansard","raw_affiliation_strings":["LAAS/CNRS, Toulouse, France","\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS/CNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063532849","display_name":"Francesco Nori","orcid":"https://orcid.org/0000-0003-3763-6873"},"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"]},{"id":"https://openalex.org/I4210104429","display_name":"Institute of Cognitive and Brain Sciences","ror":"https://ror.org/01c3w3270","country_code":"US","type":"education","lineage":["https://openalex.org/I4210104429"]}],"countries":["IT","US"],"is_corresponding":false,"raw_author_name":"Francesco Nori","raw_affiliation_strings":["RBCS Department, Istituto Italiano di Tecnologia, Genova, Italy","Department of Robotics, Brain and Cognitive Sciences","Istituto Italiano di Tecnologia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RBCS Department, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Robotics, Brain and Cognitive Sciences","institution_ids":["https://openalex.org/I4210104429"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"institutions":[{"id":"https://openalex.org/I2801656423","display_name":"Lira Hospital","ror":"https://ror.org/03f6y6166","country_code":"UG","type":"healthcare","lineage":["https://openalex.org/I2801656423","https://openalex.org/I4210092895"]},{"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","UG"],"is_corresponding":false,"raw_author_name":"Giorgio Metta","raw_affiliation_strings":["iCub Facility, Istituto Italiano di Tecnologia, Genova, Italy","Istituto Italiano di Tecnologia","LIRA-lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"LIRA-lab","institution_ids":["https://openalex.org/I2801656423"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"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":"Lorenzo Natale","raw_affiliation_strings":["iCub Facility, Istituto Italiano di Tecnologia, Genova, Italy","Istituto Italiano di Tecnologia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.4056,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.96340337,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"3","issue":null,"first_page":"3227","last_page":"3232"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9983999729156494,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7092016935348511},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.6488034129142761},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6086419820785522},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5658449530601501},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5643829107284546},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5322627425193787},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5147285461425781},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.497376948595047},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4661484956741333},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45640408992767334},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.448905885219574},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.41432225704193115},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33273887634277344},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.278763085603714},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21256083250045776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15953516960144043},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.14709118008613586}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7092016935348511},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.6488034129142761},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6086419820785522},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5658449530601501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5643829107284546},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5322627425193787},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5147285461425781},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.497376948595047},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4661484956741333},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45640408992767334},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.448905885219574},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.41432225704193115},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33273887634277344},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.278763085603714},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21256083250045776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15953516960144043},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.14709118008613586},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2014.6943010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943010","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:pearl.plymouth.ac.uk:10026.1/9533","is_oa":true,"landing_page_url":"http://hdl.handle.net/10026.1/9533","pdf_url":"http://hdl.handle.net/10026.1/9533","source":{"id":"https://openalex.org/S4306402507","display_name":"PEARL (University of Plymouth)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I897542642","host_organization_name":"University of Plymouth","host_organization_lineage":["https://openalex.org/I897542642"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"},{"id":"pmh:oai:HAL:hal-01988899v1","is_oa":false,"landing_page_url":"https://laas.hal.science/hal-01988899","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Sep 2014, Chicago, United States. pp.3227-3232, ⟨10.1109/IROS.2014.6943010⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:iris.unitn.it:11572/226116","is_oa":false,"landing_page_url":"http://hdl.handle.net/11572/226116","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:pearl.plymouth.ac.uk:10026.1/9533","is_oa":true,"landing_page_url":"http://hdl.handle.net/10026.1/9533","pdf_url":"http://hdl.handle.net/10026.1/9533","source":{"id":"https://openalex.org/S4306402507","display_name":"PEARL (University of Plymouth)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I897542642","host_organization_name":"University of Plymouth","host_organization_lineage":["https://openalex.org/I897542642"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2038054381.pdf"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W48695713","https://openalex.org/W618254468","https://openalex.org/W639693478","https://openalex.org/W1522754958","https://openalex.org/W1964965610","https://openalex.org/W2001737341","https://openalex.org/W2011903577","https://openalex.org/W2019606703","https://openalex.org/W2031306778","https://openalex.org/W2037729465","https://openalex.org/W2053947939","https://openalex.org/W2055576996","https://openalex.org/W2061350632","https://openalex.org/W2086009575","https://openalex.org/W2110501241","https://openalex.org/W2112474089","https://openalex.org/W2128848325","https://openalex.org/W2135929901","https://openalex.org/W2141042553","https://openalex.org/W2162495121","https://openalex.org/W2250331966","https://openalex.org/W2253803285","https://openalex.org/W2547850563","https://openalex.org/W2990212559","https://openalex.org/W6691983692"],"related_works":["https://openalex.org/W2161681971","https://openalex.org/W2172182590","https://openalex.org/W1532965292","https://openalex.org/W2197323063","https://openalex.org/W2142476074","https://openalex.org/W2221071558","https://openalex.org/W2104832047","https://openalex.org/W2885663867","https://openalex.org/W2074309356","https://openalex.org/W2067373051"],"abstract_inverted_index":{"Legged":[0],"robots":[1],"are":[2],"typically":[3,51],"in":[4,53],"rigid":[5],"contact":[6,35],"with":[7,86,129,134],"the":[8,28,34,47,61,64,67,70,96,102,124,139],"environment":[9],"at":[10],"multiple":[11],"locations,":[12],"which":[13,144],"add":[14],"a":[15,24,31,38,43,76,119],"degree":[16],"of":[17,33,37,46,60,63,69,104,141],"complexity":[18,137],"to":[19,26,74,82,91,113],"their":[20],"control.":[21],"We":[22,41],"present":[23],"method":[25,100],"control":[27,56,107,132],"motion":[29],"and":[30],"subset":[32],"forces":[36],"floating-base":[39],"robot.":[40],"derive":[42],"new":[44],"formulation":[45],"lexicographic":[48],"optimization":[49,85,105],"problem":[50,65],"arising":[52],"multi-task":[54],"motion/force":[55],"frameworks.":[57,108],"The":[58],"structure":[59],"constraints":[62],"(i.e.":[66],"dynamics":[68],"robot)":[71],"allows":[72],"us":[73],"find":[75],"sparse":[77],"analytical":[78],"solution.":[79],"This":[80],"leads":[81],"an":[83],"equivalent":[84],"reduced":[87],"computational":[88,136],"complexity,":[89],"comparable":[90],"inverse-dynamics":[92],"based":[93,106],"approaches.":[94],"At":[95],"same":[97],"time,":[98],"our":[99,142],"preserves":[101],"flexibility":[103],"Simulations":[109],"were":[110],"carried":[111],"out":[112],"achieve":[114],"different":[115],"multi-contact":[116],"behaviors":[117],"on":[118],"23-degree-of-freedom":[120],"humanoid":[121],"robot,":[122],"validating":[123],"presented":[125],"approach.":[126],"A":[127],"comparison":[128],"another":[130],"state-of-the-art":[131],"technique":[133],"similar":[135],"shows":[138],"benefits":[140],"controller,":[143],"can":[145],"eliminate":[146],"force/torque":[147],"discontinuities.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}