{"id":"https://openalex.org/W1494129624","doi":"https://doi.org/10.1109/iros.2015.7353584","title":"Practical considerations in using inverse dynamics on a humanoid robot: Torque tracking, sensor fusion and Cartesian control laws","display_name":"Practical considerations in using inverse dynamics on a humanoid robot: Torque tracking, sensor fusion and Cartesian control laws","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W1494129624","doi":"https://doi.org/10.1109/iros.2015.7353584","mag":"1494129624"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353584","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353584","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/210976","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041921497","display_name":"Salman Faraji","orcid":"https://orcid.org/0000-0002-0192-7831"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Salman Faraji","raw_affiliation_strings":["Ecole Poly technique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory, Lausanne, Switzerland","BioRobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Poly technique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"BioRobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089396627","display_name":"Luca Colasanto","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Luca Colasanto","raw_affiliation_strings":["Ecole Poly technique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory, Lausanne, Switzerland","BioRobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Poly technique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"BioRobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Auke Jan Ijspeert","raw_affiliation_strings":["Ecole Poly technique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory, Lausanne, Switzerland","BioRobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Poly technique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"BioRobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1619","last_page":"1626"},"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":0.9973999857902527,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9908000230789185,"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/control-theory","display_name":"Control theory (sociology)","score":0.74068683385849},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6188546419143677},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5715657472610474},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5255329012870789},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4588173031806946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4575338661670685},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.449869841337204},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44980281591415405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4417837858200073},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.3447120189666748},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18498608469963074},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08019492030143738},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07889044284820557}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.74068683385849},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6188546419143677},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5715657472610474},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5255329012870789},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4588173031806946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4575338661670685},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.449869841337204},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44980281591415405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4417837858200073},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3447120189666748},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18498608469963074},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08019492030143738},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07889044284820557},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2015.7353584","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353584","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:210976","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/210976","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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":"Text"},{"id":"pmh:oai:infoscience.tind.io:210976","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/117611","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:210976","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/210976","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1500527895","https://openalex.org/W1937806260","https://openalex.org/W1973805002","https://openalex.org/W1987219198","https://openalex.org/W1993037465","https://openalex.org/W1995384722","https://openalex.org/W1999684857","https://openalex.org/W2005099894","https://openalex.org/W2028073826","https://openalex.org/W2041550061","https://openalex.org/W2054577881","https://openalex.org/W2063805130","https://openalex.org/W2064822683","https://openalex.org/W2068793240","https://openalex.org/W2080421646","https://openalex.org/W2117402460","https://openalex.org/W2122827816","https://openalex.org/W2131232094","https://openalex.org/W2136365881","https://openalex.org/W2137165191","https://openalex.org/W2151664215","https://openalex.org/W2158835002","https://openalex.org/W2253803285","https://openalex.org/W2296360731","https://openalex.org/W2547850563","https://openalex.org/W3102703788","https://openalex.org/W4241459016","https://openalex.org/W4254437469","https://openalex.org/W6646939667","https://openalex.org/W6663797326"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W1991876829","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W3101820272","https://openalex.org/W2112389631","https://openalex.org/W2103107162"],"abstract_inverted_index":{"Although":[0],"considering":[1],"dynamics":[2,42],"in":[3,14,114,153],"the":[4,24,58,78,91,99,103,106,123,141],"control":[5,28],"of":[6,23,72,102,108,116,122],"humanoid":[7],"robots":[8],"can":[9,144,157],"improve":[10],"tracking":[11],"and":[12,20,29,56,86,128,135,151,163,170],"compliance":[13],"agile":[15],"tasks,":[16],"it":[17],"requires":[18],"local":[19],"global":[21,93],"states":[22],"system,":[25],"precise":[26,127],"torque":[27,45,64,130,177],"proper":[30],"modeling.":[31],"In":[32,68],"this":[33],"paper":[34],"we":[35],"discuss":[36],"practical":[37],"issues":[38],"to":[39,75,126],"implement":[40],"inverse":[41,139],"on":[43,175],"a":[44,61,70],"controlled":[46],"robot.":[47],"By":[48],"modeling":[49],"electrical":[50],"actuators":[51],"offline,":[52],"inverting":[53],"such":[54],"model":[55],"estimating":[57],"friction":[59],"on-line,":[60],"high":[62],"bandwidth":[63],"controller":[65],"is":[66,111,173],"implemented.":[67],"addition,":[69],"cascade":[71],"optimization":[73],"problems":[74],"fuse":[76],"all":[77],"sensory":[79],"data":[80],"coming":[81],"from":[82,105,160],"IMU,":[83],"joint":[84,181],"encoders":[85],"contact":[87],"force":[88],"sensors":[89],"estimate":[90],"robot's":[92],"state":[94,133],"robustly.":[95],"Our":[96],"estimation":[97,134],"builds":[98],"kinematic":[100],"chain":[101],"legs":[104],"center":[107],"pressure":[109],"which":[110],"more":[112],"robust":[113,132],"case":[115],"slight":[117],"slippage,":[118],"tilting":[119],"or":[120,183],"rolling":[121],"feet.":[124],"Thanks":[125],"fast":[129],"control,":[131,178],"optimization-based":[136],"whole":[137],"body":[138],"dynamics,":[140],"real":[142],"robot":[143],"keep":[145],"balance":[146],"with":[147],"very":[148],"small":[149],"stiffness":[150],"damping":[152,182],"Cartesian":[154],"space.":[155],"It":[156],"also":[158],"recover":[159],"strong":[161],"pushes":[162],"perform":[164],"dexterous":[165],"tasks.":[166],"The":[167],"highly":[168],"compliant":[169],"stable":[171],"performance":[172],"based":[174],"pure":[176],"without":[179],"any":[180],"position/velocity":[184],"tracking.":[185]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
