{"id":"https://openalex.org/W2774793566","doi":"https://doi.org/10.1109/iros.2017.8205945","title":"A torque-controlled humanoid robot riding on a two-wheeled mobile platform","display_name":"A torque-controlled humanoid robot riding on a two-wheeled mobile platform","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774793566","doi":"https://doi.org/10.1109/iros.2017.8205945","mag":"2774793566"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8205945","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8205945","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5072891996","display_name":"Songyan Xin","orcid":"https://orcid.org/0000-0003-4326-0323"},"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":true,"raw_author_name":"Songyan Xin","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070650640","display_name":"Yangwei You","orcid":"https://orcid.org/0000-0002-9511-550X"},"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":"Yangwei You","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026845307","display_name":"Chengxu Zhou","orcid":"https://orcid.org/0000-0002-6677-0855"},"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":"Chengxu Zhou","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062135561","display_name":"Cheng Fang","orcid":"https://orcid.org/0000-0002-8535-3774"},"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":"Cheng Fang","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"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":"Nikos Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5072891996"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.3936,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.62249839,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1435","last_page":"1442"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9926000237464905,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9514999985694885,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9585057497024536},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5905047655105591},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5573070049285889},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5422495603561401},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5414398312568665},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.519053041934967},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5133451819419861},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.4745110869407654},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4503348469734192},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4468030333518982},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33788424730300903},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2874094843864441}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9585057497024536},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5905047655105591},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5573070049285889},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5422495603561401},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5414398312568665},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.519053041934967},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5133451819419861},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.4745110869407654},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4503348469734192},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4468030333518982},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33788424730300903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2874094843864441},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8205945","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8205945","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:144462","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1498151138","https://openalex.org/W1499277207","https://openalex.org/W1502308290","https://openalex.org/W1560270123","https://openalex.org/W1945123189","https://openalex.org/W1957820804","https://openalex.org/W1964965610","https://openalex.org/W1969366849","https://openalex.org/W1999636742","https://openalex.org/W2005080926","https://openalex.org/W2005797378","https://openalex.org/W2019606703","https://openalex.org/W2041550061","https://openalex.org/W2046636826","https://openalex.org/W2047842611","https://openalex.org/W2054577881","https://openalex.org/W2060469901","https://openalex.org/W2062940189","https://openalex.org/W2080421646","https://openalex.org/W2107863808","https://openalex.org/W2110432299","https://openalex.org/W2120499270","https://openalex.org/W2122535864","https://openalex.org/W2122827816","https://openalex.org/W2131622683","https://openalex.org/W2141042553","https://openalex.org/W2143729862","https://openalex.org/W2169471584","https://openalex.org/W2294646437","https://openalex.org/W2335044248","https://openalex.org/W2539382986","https://openalex.org/W2545549456","https://openalex.org/W4214942353","https://openalex.org/W4254086355","https://openalex.org/W6629917956","https://openalex.org/W6676705521"],"related_works":["https://openalex.org/W4386128912","https://openalex.org/W2778262232","https://openalex.org/W2910269320","https://openalex.org/W2025425864","https://openalex.org/W4242231179","https://openalex.org/W2796462422","https://openalex.org/W2216521820","https://openalex.org/W4285332827","https://openalex.org/W2141773360","https://openalex.org/W2171368057"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,14,32,55,72,77,104,135,183],"motivated":[3],"by":[4],"the":[5,23,63,65,69,92,96,99,110,120,126,128,132,143,146,155,164,175,196,199],"questions:":[6],"What":[7],"would":[8],"happen":[9],"if":[10],"a":[11,17,39],"humanoid":[12,24,46,70,100,111,133],"robot":[13,25,47,71,112,134],"put":[15],"on":[16,117,191],"Segway?":[18],"Is":[19],"it":[20,54,118,168],"possible":[21],"for":[22,35],"to":[26,79,84,91,114,140,194],"use":[27],"this":[28],"transportation":[29],"device":[30],"that":[31,53],"specifically":[33],"designed":[34],"human?":[36],"Simulation":[37],"involving":[38],"two-wheeled":[40],"mobile":[41],"platform":[42],"(TWMP)":[43],"and":[44,74,98,109,162],"our":[45],"COMAN":[48],"(COmpliant":[49],"HuMANoid":[50],"Platform)":[51],"shows":[52],"indeed":[56],"feasible":[57],"without":[58],"any":[59],"hardware":[60],"modification.":[61],"Regarding":[62],"implementation,":[64],"full":[66],"dynamics":[67],"of":[68,88,123,131,149,157,159,177,180,198],"considered":[73,105,170],"quadratic":[75],"optimization":[76],"employed":[78],"generate":[80],"whole-body":[81],"joint":[82],"torques":[83],"realise":[85],"two":[86],"types":[87],"tasks":[89,188],"according":[90],"interaction":[93],"type":[94,122,148],"between":[95],"TWMP":[97,103,144],"robot.":[101],"The":[102],"as":[106,137,171],"unknown":[107],"disturbance":[108],"has":[113],"keep":[115],"balancing":[116],"in":[119,145],"first":[121],"task.":[124,150],"On":[125],"contrary,":[127],"active":[129],"movement":[130],"utilised":[136],"an":[138],"interface":[139],"intuitively":[141],"drive":[142],"second":[147],"For":[151],"both":[152,187],"tasks,":[153],"tracking":[154],"position":[156],"center":[158],"mass":[160],"(CoM)":[161],"regulating":[163],"angular":[165],"momentum":[166],"around":[167],"are":[169,189],"primary":[172],"objectives,":[173],"stabilizing":[174],"posture":[176],"certain":[178],"part":[179],"its":[181],"body":[182],"optional.":[184],"In":[185],"addition,":[186],"repeated":[190],"uneven":[192],"terrain":[193],"demonstrate":[195],"robustness":[197],"control":[200],"method.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
