{"id":"https://openalex.org/W2884460909","doi":"https://doi.org/10.1109/iros.2018.8594277","title":"A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots","display_name":"A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2884460909","doi":"https://doi.org/10.1109/iros.2018.8594277","mag":"2884460909"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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://hdl.handle.net/10026.1/13015","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071104229","display_name":"Stefano Dafarra","orcid":"https://orcid.org/0000-0002-1575-5188"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Dafarra","raw_affiliation_strings":["DIBRIS, Universita degli Studi di Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIBRIS, Universita degli Studi di Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004259374","display_name":"Gabriele Nava","orcid":"https://orcid.org/0000-0001-8965-2934"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gabriele Nava","raw_affiliation_strings":["DIBRIS, Universita degli Studi di Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIBRIS, Universita degli Studi di Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067140379","display_name":"Marie Charbonneau","orcid":"https://orcid.org/0000-0003-2776-2745"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marie Charbonneau","raw_affiliation_strings":["DIBRIS, Universita degli Studi di Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIBRIS, Universita degli Studi di Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057939953","display_name":"Nuno Guedelha","orcid":"https://orcid.org/0000-0002-1117-2428"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nuno Guedelha","raw_affiliation_strings":["DIBRIS, Universita degli Studi di Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIBRIS, Universita degli Studi di Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038390912","display_name":"Francisco Andradel","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francisco Andradel","raw_affiliation_strings":["DIBRIS, Universita degli Studi di Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIBRIS, Universita degli Studi di Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082517605","display_name":"Silvio Traversaro","orcid":"https://orcid.org/0000-0002-9283-6133"},"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":"Silvio Traversaro","raw_affiliation_strings":["icub Facility Department, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"icub Facility Department, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054737335","display_name":"Luca Fiorio","orcid":"https://orcid.org/0000-0003-1424-8341"},"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":"Luca Fiorio","raw_affiliation_strings":["icub Facility Department, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"icub Facility Department, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101503909","display_name":"Francesco Roman\u00f2","orcid":"https://orcid.org/0000-0001-5630-4992"},"institutions":[{"id":"https://openalex.org/I4210113297","display_name":"Google (United Kingdom)","ror":"https://ror.org/024bc3e07","country_code":"GB","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210113297","https://openalex.org/I4210128969"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Francesco Romano","raw_affiliation_strings":["Google DeepMin, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMin, London, UK","institution_ids":["https://openalex.org/I4210113297"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063532849","display_name":"Francesco Nori","orcid":"https://orcid.org/0000-0003-3763-6873"},"institutions":[{"id":"https://openalex.org/I4210113297","display_name":"Google (United Kingdom)","ror":"https://ror.org/024bc3e07","country_code":"GB","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210113297","https://openalex.org/I4210128969"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Francesco Nori","raw_affiliation_strings":["Google DeepMin, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMin, London, UK","institution_ids":["https://openalex.org/I4210113297"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"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":"Giorgio Metta","raw_affiliation_strings":["icub Facility Department, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"icub Facility Department, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081455901","display_name":"Daniele Pucci","orcid":"https://orcid.org/0000-0002-7600-3203"},"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":"Daniele Pucci","raw_affiliation_strings":["icub Facility Department, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"icub Facility Department, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":null,"first_page":"1","last_page":"9"},"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":0.9970999956130981,"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8591532707214355},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5720131397247314},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.5388820171356201},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5245687961578369},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5116551518440247},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5084394812583923},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5013153553009033},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49810028076171875},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4936016798019409},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.470588356256485},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.4607253074645996},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.45110100507736206},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4301707148551941},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4258260428905487},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3762665390968323},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3435612916946411},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3217533826828003},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2651280164718628},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23036471009254456},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.181395024061203}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8591532707214355},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5720131397247314},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.5388820171356201},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5245687961578369},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5116551518440247},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5084394812583923},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5013153553009033},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49810028076171875},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4936016798019409},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.470588356256485},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.4607253074645996},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.45110100507736206},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4301707148551941},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4258260428905487},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3762665390968323},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3435612916946411},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3217533826828003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2651280164718628},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23036471009254456},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.181395024061203},{"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},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8594277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pearl.plymouth.ac.uk:10026.1/13015","is_oa":true,"landing_page_url":"http://hdl.handle.net/10026.1/13015","pdf_url":"http://hdl.handle.net/10026.1/13015","source":{"id":"https://openalex.org/S4306402507","display_name":"PEARL (University of Plymouth)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I897542642","host_organization_name":"University of Plymouth","host_organization_lineage":["https://openalex.org/I897542642"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference"}],"best_oa_location":{"id":"pmh:oai:pearl.plymouth.ac.uk:10026.1/13015","is_oa":true,"landing_page_url":"http://hdl.handle.net/10026.1/13015","pdf_url":"http://hdl.handle.net/10026.1/13015","source":{"id":"https://openalex.org/S4306402507","display_name":"PEARL (University of Plymouth)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I897542642","host_organization_name":"University of Plymouth","host_organization_lineage":["https://openalex.org/I897542642"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2884460909.pdf"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W113666606","https://openalex.org/W1431688706","https://openalex.org/W1495727713","https://openalex.org/W1559327333","https://openalex.org/W1562460111","https://openalex.org/W1582919213","https://openalex.org/W1687739456","https://openalex.org/W1978062600","https://openalex.org/W1978956894","https://openalex.org/W1989016128","https://openalex.org/W2013439434","https://openalex.org/W2015149365","https://openalex.org/W2035670768","https://openalex.org/W2037729465","https://openalex.org/W2037997802","https://openalex.org/W2046636826","https://openalex.org/W2054577881","https://openalex.org/W2061350632","https://openalex.org/W2061983716","https://openalex.org/W2080421646","https://openalex.org/W2093376365","https://openalex.org/W2116310395","https://openalex.org/W2123871098","https://openalex.org/W2125641719","https://openalex.org/W2128818348","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2144351850","https://openalex.org/W2415458238","https://openalex.org/W2419320609","https://openalex.org/W2477297322","https://openalex.org/W2539534359","https://openalex.org/W2570779523","https://openalex.org/W2767142596","https://openalex.org/W2776939420","https://openalex.org/W2963637864","https://openalex.org/W3102212813","https://openalex.org/W3104457626","https://openalex.org/W4246876444","https://openalex.org/W4254086355","https://openalex.org/W6604646531"],"related_works":["https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2198321481","https://openalex.org/W2789446524","https://openalex.org/W4301244418","https://openalex.org/W2963178506","https://openalex.org/W4389401105"],"abstract_inverted_index":{"A":[0],"common":[1],"approach":[2],"to":[3,38,57,110],"the":[4,40,44,58,96,100,108,128],"generation":[5],"of":[6,25,53,79,88,99,119],"walking":[7],"patterns":[8],"for":[9,73],"humanoid":[10,129],"robots":[11],"consists":[12],"in":[13,113],"adopting":[14],"a":[15,34,47,51,63,89],"layered":[16],"control":[17,28,102],"architecture.":[18,103],"This":[19,104],"paper":[20],"proposes":[21],"an":[22],"architecture":[23,106],"composed":[24],"three":[26],"nested":[27],"loops.":[29],"The":[30,77],"outer":[31],"loop":[32,98],"exploits":[33],"robot":[35,109,130],"kinematic":[36],"model":[37],"plan":[39],"footstep":[41],"positions.":[42],"In":[43],"mid":[45],"layer,":[46],"predictive":[48],"controller":[49],"generates":[50],"Center":[52],"Mass":[54],"trajectory":[55],"according":[56],"well-known":[59],"table-cart":[60],"model.":[61],"Through":[62],"whole-body":[64],"inverse":[65],"kinematics":[66],"algorithm,":[67],"we":[68],"can":[69],"define":[70],"joint":[71],"references":[72],"position":[74],"controlled":[75],"walking.":[76],"outcomes":[78],"these":[80],"two":[81],"loops":[82],"are":[83],"then":[84],"interpreted":[85],"as":[86],"inputs":[87],"stack-of-task":[90],"QP-based":[91],"torque":[92,114],"controller,":[93],"which":[94],"represents":[95],"inner":[97],"presented":[101],"resulting":[105],"allows":[107],"walk":[111],"also":[112],"control,":[115],"guaranteeing":[116],"higher":[117],"level":[118],"compliance.":[120],"Real":[121],"world":[122],"experiments":[123],"have":[124],"been":[125],"carried":[126],"on":[127],"iCub.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
