{"id":"https://openalex.org/W2567528403","doi":"https://doi.org/10.1109/iros.2016.7759818","title":"Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics","display_name":"Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2567528403","doi":"https://doi.org/10.1109/iros.2016.7759818","mag":"2567528403"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759818","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":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/220224","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":["Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, 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":["Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, 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":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5564","last_page":"5571"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9988999962806702,"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":0.995199978351593,"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":0.7613577842712402},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6521940231323242},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6495091319084167},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5857082605361938},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4859069883823395},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4580182135105133},{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.45056524872779846},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.42603030800819397},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41482895612716675},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38000935316085815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3669264018535614},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3478912115097046},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34335118532180786},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26666730642318726},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.23350951075553894},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14910095930099487},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09185594320297241}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7613577842712402},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6521940231323242},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6495091319084167},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5857082605361938},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4859069883823395},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4580182135105133},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.45056524872779846},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.42603030800819397},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41482895612716675},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38000935316085815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3669264018535614},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3478912115097046},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34335118532180786},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26666730642318726},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.23350951075553894},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14910095930099487},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09185594320297241},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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.2016.7759818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759818","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"},{"id":"pmh:oai:infoscience.epfl.ch:220224","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/220224","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:220224","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/128190","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":null,"raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:220224","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/220224","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1494129624","https://openalex.org/W1500527895","https://openalex.org/W1661823234","https://openalex.org/W2028073826","https://openalex.org/W2032854539","https://openalex.org/W2048100353","https://openalex.org/W2054577881","https://openalex.org/W2068074219","https://openalex.org/W2077326740","https://openalex.org/W2086587468","https://openalex.org/W2111253117","https://openalex.org/W2117402460","https://openalex.org/W2118486943","https://openalex.org/W2120099972","https://openalex.org/W2122703221","https://openalex.org/W2138671676","https://openalex.org/W2144351850","https://openalex.org/W2145938889","https://openalex.org/W2171868844","https://openalex.org/W2253803285","https://openalex.org/W2293036921","https://openalex.org/W2547850563","https://openalex.org/W3102051120","https://openalex.org/W3102703788","https://openalex.org/W4236921192","https://openalex.org/W6681158678","https://openalex.org/W6681162588","https://openalex.org/W6697214201","https://openalex.org/W6785603459"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2005485125","https://openalex.org/W2390718407","https://openalex.org/W1986006778","https://openalex.org/W2034124193","https://openalex.org/W2163555676","https://openalex.org/W4389401105","https://openalex.org/W4390481035","https://openalex.org/W2776995446","https://openalex.org/W2064522943"],"abstract_inverted_index":{"In":[0],"this":[1,117],"paper,":[2],"we":[3,50,74],"propose":[4],"a":[5,14,95,112,128,157],"novel":[6],"architecture":[7],"to":[8,13,30,41,62,79],"estimate":[9],"external":[10,44],"forces":[11],"applied":[12],"compliantly":[15],"controlled":[16],"balancing":[17],"robot":[18,61,98,155],"in":[19,27,33,59,86,99,120,142],"simulations.":[20],"We":[21,110],"use":[22],"similar":[23],"dynamics":[24],"equations":[25],"used":[26],"the":[28,34,53,60,64,81,144,154],"controller":[29],"find":[31,63],"mismatches":[32],"available":[35],"sensory":[36],"data":[37],"and":[38],"associate":[39],"them":[40],"an":[42],"unknown":[43],"force.":[45],"Then":[46],"by":[47],"decomposing":[48],"Jacobians,":[49],"search":[51,82],"over":[52,106],"surface":[54],"of":[55,114,133,147],"all":[56],"body":[57,130],"links":[58],"force":[65],"application":[66],"point.":[67],"By":[68],"approximating":[69],"link":[70],"geometries":[71],"with":[72],"ellipsoids,":[73],"can":[75,125,137],"derive":[76],"analytic":[77],"solutions":[78],"solve":[80],"problem":[83],"very":[84,140],"fast":[85,107],"real":[87],"time.":[88],"The":[89],"proposed":[90],"approach":[91],"is":[92],"tested":[93],"on":[94,153],"complex":[96],"humanoid":[97],"simulations":[100],"where":[101,123],"it":[102,124],"outperforms":[103],"static":[104],"estimators":[105],"dynamic":[108],"motions.":[109],"foresee":[111],"lot":[113],"applications":[115],"for":[116],"method":[118],"especially":[119],"human-robot":[121],"interactions":[122],"serve":[126],"as":[127],"whole":[129],"virtual":[131],"suit":[132],"tactile":[134],"sensors.":[135],"It":[136],"also":[138],"be":[139],"useful":[141],"identifying":[143],"inertial":[145],"properties":[146],"objects":[148],"being":[149],"manipulated":[150],"or":[151],"mounted":[152],"like":[156],"backpack.":[158]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
