{"id":"https://openalex.org/W3003609907","doi":"https://doi.org/10.1109/iros40897.2019.8967696","title":"Online Optimal Impedance Planning for Legged Robots","display_name":"Online Optimal Impedance Planning for Legged Robots","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003609907","doi":"https://doi.org/10.1109/iros40897.2019.8967696","mag":"3003609907"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/files/116278192/Online_Optimal_Impedance_ANGELINI_DOA20062019_AFV.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047597226","display_name":"Franco Angelini","orcid":"https://orcid.org/0000-0003-2559-9569"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Franco Angelini","raw_affiliation_strings":["Università di Pisa, Largo Lucio Lazzarino 1,Centro di Ricerca “Enrico Piaggio”,Pisa,Italy,56126","Centro di Ricerca \"Enrico Piaggio\", Universit\u00e0 di Pisa, Largo Lucio Lazzarino 1, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Università di Pisa, Largo Lucio Lazzarino 1,Centro di Ricerca “Enrico Piaggio”,Pisa,Italy,56126","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca \"Enrico Piaggio\", Universit\u00e0 di Pisa, Largo Lucio Lazzarino 1, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041360325","display_name":"Guiyang Xin","orcid":"https://orcid.org/0000-0003-0921-7487"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guiyang Xin","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052265126","display_name":"Wouter Wolfslag","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wouter J. Wolfslag","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033685059","display_name":"Carlo Tiseo","orcid":"https://orcid.org/0000-0002-2944-6140"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Carlo Tiseo","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082553836","display_name":"Michael Mistry","orcid":"https://orcid.org/0000-0003-3979-922X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Michael Mistry","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042460018","display_name":"Manolo Garabini","orcid":"https://orcid.org/0000-0002-5873-3173"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manolo Garabini","raw_affiliation_strings":["Università di Pisa, Largo Lucio Lazzarino 1,Centro di Ricerca “Enrico Piaggio”,Pisa,Italy,56126","Centro di Ricerca \"Enrico Piaggio\", Universit\u00e0 di Pisa, Largo Lucio Lazzarino 1, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Università di Pisa, Largo Lucio Lazzarino 1,Centro di Ricerca “Enrico Piaggio”,Pisa,Italy,56126","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca \"Enrico Piaggio\", Universit\u00e0 di Pisa, Largo Lucio Lazzarino 1, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Università di Pisa, Largo Lucio Lazzarino 1,Centro di Ricerca “Enrico Piaggio”,Pisa,Italy,56126","Centro di Ricerca \"Enrico Piaggio\", Universit\u00e0 di Pisa, Largo Lucio Lazzarino 1, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Università di Pisa, Largo Lucio Lazzarino 1,Centro di Ricerca “Enrico Piaggio”,Pisa,Italy,56126","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca \"Enrico Piaggio\", Universit\u00e0 di Pisa, Largo Lucio Lazzarino 1, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh, Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5047597226"],"corresponding_institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"],"apc_list":null,"apc_paid":null,"fwci":2.7907,"has_fulltext":true,"cited_by_count":35,"citation_normalized_percentile":{"value":0.90695724,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6028","last_page":"6035"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9994999766349792,"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":0.9912999868392944,"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/robot","display_name":"Robot","score":0.7911603450775146},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6703060865402222},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5882806181907654},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5749716758728027},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5263047218322754},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5095179677009583},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4659702777862549},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45559218525886536},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4215611219406128},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3819230794906616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2808162569999695},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23936498165130615},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18240347504615784},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07607430219650269}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7911603450775146},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6703060865402222},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5882806181907654},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5749716758728027},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5263047218322754},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5095179677009583},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4659702777862549},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45559218525886536},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4215611219406128},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3819230794906616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2808162569999695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23936498165130615},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18240347504615784},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07607430219650269},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros40897.2019.8967696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/a35aea99-098f-4207-9dcb-260dd65d1576","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/a35aea99-098f-4207-9dcb-260dd65d1576","pdf_url":"https://www.research.ed.ac.uk/files/116278192/Online_Optimal_Impedance_ANGELINI_DOA20062019_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Angelini, F, Xin, G, Wolfslag, W, Tiseo, C, Mistry, M, Garabini, M, Bicchi, A & Vijayakumar, S 2020, Online Optimal Impedance Planning for Legged Robots. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Institute of Electrical and Electronics Engineers, pp. 6028-6035, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China, 4/11/19. https://doi.org/10.1109/IROS40897.2019.8967696","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/a35aea99-098f-4207-9dcb-260dd65d1576","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/document/8967696","pdf_url":"http://hdl.handle.net/20.500.11820/a35aea99-098f-4207-9dcb-260dd65d1576","source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"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":""},{"id":"pmh:oai:arpi.unipi.it:11568/1049330","is_oa":false,"landing_page_url":"https://hdl.handle.net/11568/1049330","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/a35aea99-098f-4207-9dcb-260dd65d1576","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/a35aea99-098f-4207-9dcb-260dd65d1576","pdf_url":"https://www.research.ed.ac.uk/files/116278192/Online_Optimal_Impedance_ANGELINI_DOA20062019_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Angelini, F, Xin, G, Wolfslag, W, Tiseo, C, Mistry, M, Garabini, M, Bicchi, A & Vijayakumar, S 2020, Online Optimal Impedance Planning for Legged Robots. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Institute of Electrical and Electronics Engineers, pp. 6028-6035, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China, 4/11/19. https://doi.org/10.1109/IROS40897.2019.8967696","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2222052537","display_name":"subTerranean Haptic INvestiGator","funder_award_id":"780883","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3372201387","display_name":null,"funder_award_id":"ICT-2017-1","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5313779304","display_name":null,"funder_award_id":"780684","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8318064016","display_name":null,"funder_award_id":"Horizon","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3003609907.pdf","grobid_xml":"https://content.openalex.org/works/W3003609907.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1789658038","https://openalex.org/W2017239762","https://openalex.org/W2025943982","https://openalex.org/W2093945540","https://openalex.org/W2099677374","https://openalex.org/W2111528514","https://openalex.org/W2127755734","https://openalex.org/W2133932631","https://openalex.org/W2141377539","https://openalex.org/W2151378713","https://openalex.org/W2562301014","https://openalex.org/W2568270404","https://openalex.org/W2764255492","https://openalex.org/W2783413321","https://openalex.org/W2788200022","https://openalex.org/W2795034878","https://openalex.org/W2910395141","https://openalex.org/W4250391287","https://openalex.org/W4250589301","https://openalex.org/W6678627614"],"related_works":["https://openalex.org/W3212673989","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W2078580336","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W2954323201","https://openalex.org/W2583465206","https://openalex.org/W2001273675","https://openalex.org/W4295916778"],"abstract_inverted_index":{"Real":[0],"world":[1],"applications":[2],"require":[3,83],"robots":[4],"to":[5,16,45,106,108,140,175],"operate":[6],"in":[7,110],"unstructured":[8],"environments.":[9],"This":[10,71,92],"kind":[11],"of":[12,34,89,101,158],"scenarios":[13,178],"may":[14,24,82],"lead":[15],"unexpected":[17],"environmental":[18],"contacts":[19],"or":[20,27],"undesired":[21],"interactions,":[22],"which":[23],"harm":[25],"people":[26],"impair":[28],"the":[29,32,35,63,90,102,111,134,141,145,159,165,173],"robot.":[30],"Adjusting":[31],"behavior":[33,136],"system":[36],"through":[37],"impedance":[38,52,85,105,147,171],"control":[39],"techniques":[40],"is":[41,53,73,138,153,161],"an":[42,50,95,130,187],"effective":[43],"solution":[44,132],"these":[46],"problems.":[47],"However,":[48],"selecting":[49],"adequate":[51],"not":[54],"a":[55],"straightforward":[56],"process.":[57],"Normally,":[58],"robot":[59,104,113,142,167,174],"users":[60],"manually":[61],"tune":[62],"controller":[64],"gains":[65,151],"with":[66,186],"trial":[67],"and":[68,76,119,184],"error":[69],"methods.":[70],"approach":[72],"generally":[74],"slow":[75],"requires":[77],"practice.":[78],"Moreover,":[79],"complex":[80],"tasks":[81],"different":[84,87],"during":[86,150],"phases":[88],"task.":[91],"paper":[93],"introduces":[94],"optimization":[96],"algorithm":[97],"for":[98],"online":[99],"planning":[100],"Cartesian":[103,146],"adapt":[107],"changes":[109],"task,":[112],"configuration,":[114],"expected":[115],"disturbances,":[116],"external":[117],"environment":[118],"desired":[120],"performance,":[121],"without":[122],"employing":[123],"any":[124],"direct":[125],"force":[126],"measurements.":[127],"We":[128],"provide":[129],"analytical":[131],"leveraging":[133],"mass-spring-damper":[135],"that":[137],"conferred":[139],"body":[143],"by":[144],"controller.":[148],"Stability":[149],"variation":[152],"also":[154],"guaranteed.":[155],"The":[156,169],"effectiveness":[157],"method":[160],"experimentally":[162],"validated":[163],"on":[164,181],"quadrupedal":[166],"ANYmal.":[168],"variable":[170],"helps":[172],"tackle":[176],"challenging":[177],"like":[179],"walking":[180],"rough":[182],"terrain":[183],"colliding":[185],"obstacle.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-16T15:07:20.185449","created_date":"2020-02-07T00:00:00"}