{"id":"https://openalex.org/W3003704547","doi":"https://doi.org/10.1109/iros40897.2019.8968006","title":"Agile Standing-up Control of Humanoids: Energy-based Reactive Contact Wrench Optimization with Strict Dynamic Consistency","display_name":"Agile Standing-up Control of Humanoids: Energy-based Reactive Contact Wrench Optimization with Strict Dynamic Consistency","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003704547","doi":"https://doi.org/10.1109/iros40897.2019.8968006","mag":"3003704547"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968006","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":"conference-paper","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/A5069100903","display_name":"Yisoo Lee","orcid":"https://orcid.org/0000-0001-8135-4094"},"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":"Yisoo Lee","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genoa,Italy,16163","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","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":["Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genoa,Italy,16163","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017250304","display_name":"Jinoh Lee","orcid":"https://orcid.org/0000-0002-4901-7095"},"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":"Jinoh Lee","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genoa,Italy,16163","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4652","last_page":"4659"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9950000047683716,"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/wrench","display_name":"Wrench","score":0.789673924446106},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7389390468597412},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5958586931228638},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5416131615638733},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.52149498462677},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5120778679847717},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5057511329650879},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4674573540687561},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44965246319770813},{"id":"https://openalex.org/keywords/sprocket","display_name":"Sprocket","score":0.4317089021205902},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.4264727532863617},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4205928444862366},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42033398151397705},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3435937762260437},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3031996488571167},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2074263095855713},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1855495274066925},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18495675921440125},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07719641923904419}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.789673924446106},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7389390468597412},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5958586931228638},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5416131615638733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.52149498462677},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5120778679847717},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5057511329650879},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4674573540687561},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44965246319770813},{"id":"https://openalex.org/C118817141","wikidata":"https://www.wikidata.org/wiki/Q1154740","display_name":"Sprocket","level":2,"score":0.4317089021205902},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.4264727532863617},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4205928444862366},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42033398151397705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3435937762260437},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3031996488571167},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2074263095855713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1855495274066925},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18495675921440125},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07719641923904419},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968006","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W100935095","https://openalex.org/W1991511703","https://openalex.org/W2002011434","https://openalex.org/W2019606703","https://openalex.org/W2041521369","https://openalex.org/W2061350632","https://openalex.org/W2096918223","https://openalex.org/W2107742267","https://openalex.org/W2113518113","https://openalex.org/W2119088038","https://openalex.org/W2120363947","https://openalex.org/W2131232094","https://openalex.org/W2132089714","https://openalex.org/W2141042553","https://openalex.org/W2153731877","https://openalex.org/W2167647761","https://openalex.org/W2169564405","https://openalex.org/W2419417828","https://openalex.org/W2461181622","https://openalex.org/W2539534359","https://openalex.org/W2545425704","https://openalex.org/W2566610034","https://openalex.org/W2772085282","https://openalex.org/W2884486007","https://openalex.org/W2907451530","https://openalex.org/W2913069595","https://openalex.org/W6604155448"],"related_works":["https://openalex.org/W2347892263","https://openalex.org/W4214539869","https://openalex.org/W3157988771","https://openalex.org/W2383348478","https://openalex.org/W2369464674","https://openalex.org/W2130230528","https://openalex.org/W2326697958","https://openalex.org/W2377040907","https://openalex.org/W2198590001","https://openalex.org/W1532965292"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,138],"dynamic":[4,51,66,159],"whole-body":[5,38],"control":[6,39,63],"method":[7,152],"for":[8],"humanoids":[9],"to":[10,22,90,94,113,119,135],"render":[11],"agile":[12,61],"and":[13,68,106,118,131,156],"stable":[14],"standing-up":[15,26,62,170],"motion":[16,117],"based":[17,37,74],"on":[18,75],"energy":[19,93,109],"concepts.":[20],"First,":[21],"cope":[23],"with":[24,28,53,65,158],"the":[25,76,79,96,100,107,121,124,127,162],"problem":[27],"multiple":[29],"contacts":[30,87],"in":[31,141],"hierarchical":[32],"tasks,":[33],"an":[34],"enhanced":[35],"operational-space":[36],"(WBC)":[40],"framework":[41],"is":[42,71,110,153],"proposed,":[43],"which":[44,142],"offers":[45],"optimal":[46,83],"torque":[47],"resolutions":[48],"guaranteeing":[49],"strict":[50],"consistency":[52],"inequality":[54],"constraints":[55],"formulated":[56],"by":[57,146],"quadratic":[58],"programming.":[59],"Second,":[60],"strategy":[64],"push":[67],"rise":[69],"actions":[70],"newly":[72],"developed":[73],"notion":[77],"of":[78,99,123,169],"total":[80,108],"energy.":[81],"The":[82,150],"pushing":[84],"wrenches":[85],"at":[86],"are":[88],"computed":[89],"obtain":[91],"sufficient":[92],"accelerate":[95],"center-of-mass":[97],"(CoM)":[98],"robot":[101,128],"as":[102,104],"quick":[103],"possible,":[105],"then":[111],"controlled":[112],"attain":[114],"rapid":[115],"rise-up":[116],"stabilize":[120],"body":[122],"robot.":[125],"Consequently,":[126],"can":[129],"effectively":[130],"actively":[132],"stand":[133],"up":[134],"recover":[136],"from":[137,161],"certain":[139],"pose":[140],"cannot":[143],"be":[144],"accomplished":[145],"any":[147],"quasi-static":[148],"motion.":[149],"proposed":[151],"numerically":[154],"experimented":[155],"validated":[157],"parameters":[160],"real":[163],"humanoid":[164],"COMAN+,":[165],"fulfilling":[166],"different":[167],"types":[168],"actions.":[171]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}