{"id":"https://openalex.org/W2562736583","doi":"https://doi.org/10.1109/iros.2016.7759424","title":"Simulation-based design of dynamic controllers for humanoid balancing","display_name":"Simulation-based design of dynamic controllers for humanoid balancing","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2562736583","doi":"https://doi.org/10.1109/iros.2016.7759424","mag":"2562736583"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103241086","display_name":"Jie Tan","orcid":"https://orcid.org/0000-0002-7947-0333"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jie Tan","raw_affiliation_strings":["[ College of Computing, Georgia Institute of Technology, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"[ College of Computing, Georgia Institute of Technology, USA]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102887266","display_name":"Zhaoming Xie","orcid":"https://orcid.org/0000-0003-1948-1767"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhaoming Xie","raw_affiliation_strings":["[ College of Computing, Georgia Institute of Technology, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"[ College of Computing, Georgia Institute of Technology, USA]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110797782","display_name":"Byron Boots","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Byron Boots","raw_affiliation_strings":["[ College of Computing, Georgia Institute of Technology, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"[ College of Computing, Georgia Institute of Technology, USA]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048338914","display_name":"C. Karen Liu","orcid":"https://orcid.org/0000-0001-5926-0905"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Karen Liu","raw_affiliation_strings":["[ College of Computing, Georgia Institute of Technology, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"[ College of Computing, Georgia Institute of Technology, USA]","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2729","last_page":"2736"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","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/T10812","display_name":"Human Pose and Action Recognition","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9958000183105469,"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/computer-science","display_name":"Computer science","score":0.7233065962791443},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6602581739425659},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44654351472854614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15155690908432007},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15008294582366943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12475922703742981}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7233065962791443},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6602581739425659},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44654351472854614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15155690908432007},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15008294582366943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12475922703742981}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309321","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W31984690","https://openalex.org/W103156936","https://openalex.org/W150814955","https://openalex.org/W1517081929","https://openalex.org/W1570792896","https://openalex.org/W1601794479","https://openalex.org/W1603365166","https://openalex.org/W1803525761","https://openalex.org/W1966784014","https://openalex.org/W1987352581","https://openalex.org/W1996625075","https://openalex.org/W2010302808","https://openalex.org/W2079533635","https://openalex.org/W2087617385","https://openalex.org/W2110811984","https://openalex.org/W2113518113","https://openalex.org/W2131516560","https://openalex.org/W2132602063","https://openalex.org/W2140135625","https://openalex.org/W2144858681","https://openalex.org/W2148863387","https://openalex.org/W2153917213","https://openalex.org/W2162617871","https://openalex.org/W2163408698","https://openalex.org/W2169209873","https://openalex.org/W2171493306","https://openalex.org/W2205975260","https://openalex.org/W2209762605","https://openalex.org/W2218389626","https://openalex.org/W2289678100","https://openalex.org/W2336687883","https://openalex.org/W4324106947","https://openalex.org/W6601249954","https://openalex.org/W6606068012","https://openalex.org/W6630711612","https://openalex.org/W6680657880","https://openalex.org/W6683024697","https://openalex.org/W6685331716","https://openalex.org/W6688790535"],"related_works":["https://openalex.org/W3008713185","https://openalex.org/W2294061893","https://openalex.org/W2126354065","https://openalex.org/W1598264041","https://openalex.org/W2562502978","https://openalex.org/W4286582205","https://openalex.org/W2136919888","https://openalex.org/W1539339477","https://openalex.org/W172111463","https://openalex.org/W3116248136"],"abstract_inverted_index":{"Model-based":[0],"trajectory":[1,9,40],"optimization":[2],"often":[3],"fails":[4],"to":[5,23,99,108],"find":[6],"a":[7,32,38,50,89,109],"reference":[8,39,84],"for":[10,82],"under-actuated":[11],"bipedal":[12],"robots":[13],"performing":[14],"highly-dynamic,":[15],"contact-rich":[16],"tasks":[17,44,92],"in":[18,45],"the":[19,46,95,102,117],"real":[20,47,55],"world":[21,48,56],"due":[22],"inaccurate":[24],"physical":[25],"models.":[26],"In":[27],"this":[28],"paper,":[29],"we":[30],"propose":[31],"complete":[33],"system":[34,61,76],"that":[35,41,93],"automatically":[36],"designs":[37],"succeeds":[42],"on":[43,88],"with":[49,67],"very":[51],"small":[52],"number":[53],"of":[54,91,119],"experiments.":[57],"We":[58,86],"adopt":[59],"existing":[60],"identification":[62,77],"techniques":[63],"and":[64,71,121],"show":[65],"that,":[66],"appropriate":[68],"model":[69],"parameterization":[70],"control":[72],"optimization,":[73],"an":[74,105],"iterative":[75],"framework":[78],"can":[79],"be":[80],"effective":[81],"designing":[83],"trajectories.":[85],"focus":[87],"set":[90],"leverage":[94],"momentum":[96],"transfer":[97],"strategy":[98],"rapidly":[100],"change":[101],"whole-body":[103],"from":[104],"initial":[106],"configuration":[107,111],"target":[110],"by":[112],"generating":[113],"large":[114],"accelerations":[115],"at":[116],"center":[118],"mass":[120],"switching":[122],"contacts.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
