{"id":"https://openalex.org/W2771500698","doi":"https://doi.org/10.1109/iros.2017.8206475","title":"Optimal control based push recovery strategy for the iCub humanoid robot with series elastic actuators","display_name":"Optimal control based push recovery strategy for the iCub humanoid robot with series elastic actuators","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2771500698","doi":"https://doi.org/10.1109/iros.2017.8206475","mag":"2771500698"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206475","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/A5100755023","display_name":"Yue Hu","orcid":"https://orcid.org/0000-0002-3846-9096"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yue Hu","raw_affiliation_strings":["Optimization, Robotics and Biomechanics (ORB), Institute of Computer Engineering (ZITI), Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Optimization, Robotics and Biomechanics (ORB), Institute of Computer Engineering (ZITI), Heidelberg, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042406934","display_name":"Katja Mombaur","orcid":"https://orcid.org/0000-0003-1353-0943"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Katja Mombaur","raw_affiliation_strings":["Optimization, Robotics and Biomechanics (ORB), Institute of Computer Engineering (ZITI), Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Optimization, Robotics and Biomechanics (ORB), Institute of Computer Engineering (ZITI), Heidelberg, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100755023"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2549,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.56226009,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"5846","last_page":"5852"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9884999990463257,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8799765110015869},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7444620728492737},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6737436056137085},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6628872156143188},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.661071240901947},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6031632423400879},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5496736764907837},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.44078636169433594},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.43787655234336853},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42023175954818726},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3922247588634491},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3539363741874695},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33477783203125},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3223114013671875},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29163968563079834},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15221428871154785}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8799765110015869},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7444620728492737},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6737436056137085},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6628872156143188},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.661071240901947},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6031632423400879},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5496736764907837},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.44078636169433594},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.43787655234336853},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42023175954818726},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3922247588634491},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3539363741874695},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33477783203125},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3223114013671875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29163968563079834},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15221428871154785}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206475","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8600000143051147}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1562460111","https://openalex.org/W1963573260","https://openalex.org/W1967742352","https://openalex.org/W1969354366","https://openalex.org/W1972518516","https://openalex.org/W2029015512","https://openalex.org/W2037729465","https://openalex.org/W2059375701","https://openalex.org/W2079071266","https://openalex.org/W2079995373","https://openalex.org/W2099129715","https://openalex.org/W2111253117","https://openalex.org/W2161222115","https://openalex.org/W2167547476","https://openalex.org/W2413608038","https://openalex.org/W2477297322","https://openalex.org/W2478964418","https://openalex.org/W2535040283","https://openalex.org/W2539534359","https://openalex.org/W2570508284","https://openalex.org/W3104457626","https://openalex.org/W3104751372","https://openalex.org/W3145941942"],"related_works":["https://openalex.org/W2789446524","https://openalex.org/W2963178506","https://openalex.org/W4301244418","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W1829175078","https://openalex.org/W2362004994","https://openalex.org/W1965124047"],"abstract_inverted_index":{"One":[0],"of":[1,5,24,59,125,129,151,159,169],"the":[2,11,45,52,60,75,103,121,126,130,149,153,164,167,170,181,202],"biggest":[3],"challenges":[4],"humanoid":[6,35,171],"robots":[7],"is":[8,30,49,62,91,98,112,155,198],"to":[9,21,64,73,93,114,142,166,187],"keep":[10],"balance":[12],"at":[13,148],"any":[14],"moment,":[15],"as":[16,106],"they":[17],"can":[18,177],"be":[19,178],"subject":[20,92],"different":[22,79],"types":[23],"external":[25,95,108],"perturbations.":[26],"Therefore,":[27],"push":[28],"recovery":[29,66,117,144,196],"a":[31,56,78,137,157],"relevant":[32],"issue":[33],"in":[34,102,156,180],"robotics,":[36],"which":[37,97,152],"still":[38],"represents":[39],"an":[40,94],"open":[41],"challenge.":[42],"In":[43,68],"literature,":[44],"most":[46],"used":[47,63,113],"method":[48,165],"based":[50],"on":[51],"capture":[53,131],"point,":[54],"where":[55,174],"reduced":[57],"model":[58,124,168,203],"robot":[61,90,154,172],"compute":[65],"motions.":[67],"this":[69],"paper":[70],"we":[71,134],"want":[72],"explore":[74],"problem":[76],"with":[77,86,204],"approach,":[80],"by":[81,119],"using":[82,120],"whole-body":[83,116,122],"models":[84],"combined":[85],"optimal":[87],"control.":[88],"The":[89,195],"perturbation,":[96],"taken":[99],"into":[100,190],"account":[101],"system":[104],"dynamics":[105],"continuous":[107],"force.":[109],"Optimal":[110],"control":[111],"generate":[115],"motions":[118],"dynamic":[123],"robot.":[127],"Instead":[128],"point":[132],"criterion,":[133],"optimize":[135],"for":[136,200],"stable":[138],"motion":[139,197],"that":[140],"allows":[141],"perform":[143],"within":[145],"one":[146],"step,":[147],"end":[150],"state":[158],"zero":[160],"velocity.":[161],"We":[162],"apply":[163],"HeiCub,":[173],"serial":[175],"springs":[176],"mounted":[179],"knee":[182],"and":[183,205],"ankle":[184],"pitch":[185],"actuators":[186],"change":[188],"them":[189],"Series":[191],"Elastic":[192],"Actuators":[193],"(SEA).":[194],"computed":[199],"both":[201],"without":[206],"SEA.":[207]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}