{"id":"https://openalex.org/W4312869615","doi":"https://doi.org/10.1109/iros47612.2022.9981036","title":"Humanoid Balance Control using Centroidal Angular Momentum based on Hierarchical Quadratic Programming","display_name":"Humanoid Balance Control using Centroidal Angular Momentum based on Hierarchical Quadratic Programming","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312869615","doi":"https://doi.org/10.1109/iros47612.2022.9981036"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981036","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5032054203","display_name":"Myeong-Ju Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Myeong-Ju Kim","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information,Republic of Korea","Department of Intelligence and Information, Seoul National University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Intelligence and Information, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023725931","display_name":"Daegyu Lim","orcid":"https://orcid.org/0000-0002-0012-1799"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Daegyu Lim","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information,Republic of Korea","Department of Intelligence and Information, Seoul National University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Intelligence and Information, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071753562","display_name":"Gyeongjae Park","orcid":"https://orcid.org/0000-0001-6429-1036"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gyeongjae Park","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information,Republic of Korea","Department of Intelligence and Information, Seoul National University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Intelligence and Information, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031070386","display_name":"Jaeheung Park","orcid":"https://orcid.org/0000-0002-5062-8264"},"institutions":[{"id":"https://openalex.org/I4210120602","display_name":"Advanced Institute of Convergence Technology","ror":"https://ror.org/01w62yz22","country_code":"KR","type":"facility","lineage":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]},{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Seoul National University,Department of Intelligence and Information,Republic of Korea","Department of Intelligence and Information, Seoul National University, Republic of Korea","Advanced Institutes of Convergence Technology, Republic of Korea","ASRI, RICS, Seoul National University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Intelligence and Information,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Intelligence and Information, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Advanced Institutes of Convergence Technology, Republic of Korea","institution_ids":["https://openalex.org/I4210120602"]},{"raw_affiliation_string":"ASRI, RICS, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032054203"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":2.8858,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.93120097,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6753","last_page":"6760"},"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":0.9926000237464905,"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/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9761000275611877,"subfield":{"id":"https://openalex.org/subfields/2738","display_name":"Psychiatry and Mental health"},"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":0.6725982427597046},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6388189792633057},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5790426731109619},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5278458595275879},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4926803708076477},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.4319702684879303},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4224783480167389},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.41688358783721924},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3723302483558655},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2276294231414795},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22539067268371582},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22301116585731506},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.11624079942703247}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6725982427597046},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6388189792633057},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5790426731109619},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5278458595275879},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4926803708076477},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.4319702684879303},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4224783480167389},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.41688358783721924},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3723302483558655},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2276294231414795},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22539067268371582},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22301116585731506},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.11624079942703247},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981036","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1516265587","https://openalex.org/W1964173271","https://openalex.org/W1967365365","https://openalex.org/W1980160418","https://openalex.org/W1987580649","https://openalex.org/W2019606703","https://openalex.org/W2037729465","https://openalex.org/W2096291722","https://openalex.org/W2099129715","https://openalex.org/W2138136244","https://openalex.org/W2151182239","https://openalex.org/W2165178808","https://openalex.org/W2318369481","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W2793603912","https://openalex.org/W2966463142","https://openalex.org/W2976032235","https://openalex.org/W3174153015"],"related_works":["https://openalex.org/W4206704743","https://openalex.org/W4313119266","https://openalex.org/W2164807043","https://openalex.org/W2019128690","https://openalex.org/W4231448069","https://openalex.org/W2128461291","https://openalex.org/W2355907103","https://openalex.org/W2270789747","https://openalex.org/W436931041","https://openalex.org/W1495847109"],"abstract_inverted_index":{"Maintaining":[0],"balance":[1,108],"to":[2,15,26,77],"external":[3,124],"pushes":[4,27],"is":[5,52,71,88,118],"one":[6],"of":[7,56,61,81,123],"the":[8,29,57,79,102,112,116,121],"most":[9],"important":[10],"features":[11],"for":[12,24],"a":[13,18,42,91],"humanoid":[14,117],"walk":[16],"in":[17,90,120],"real":[19],"environment.":[20],"In":[21,39],"particular,":[22],"methods":[23],"counteracting":[25],"using":[28],"centroidal":[30],"angular":[31],"momentum":[32],"(CAM)":[33],"control":[34,44,59,64,96,109],"have":[35],"been":[36],"actively":[37],"developed.":[38],"this":[40],"paper,":[41],"CAM":[43,58,62,82],"scheme":[45,55],"based":[46,74],"on":[47,75],"hierarchical":[48],"quadratic":[49],"programming":[50],"(HQP)":[51],"proposed.":[53],"The":[54,85],"consists":[60],"tracking":[63,83],"and":[65,100],"initial":[66],"pose":[67],"return":[68],"control,":[69],"which":[70],"hierarchically":[72],"operated":[73],"HQP":[76],"ensure":[78],"priority":[80],"performance.":[84],"proposed":[86,103],"method":[87,104,114],"implemented":[89],"capture":[92],"point":[93],"(CP)":[94],"feedback":[95],"framework.":[97],"Through":[98],"simulations":[99],"experiments,":[101],"demonstrated":[105],"more":[106],"stable":[107],"performance":[110],"than":[111],"previous":[113],"when":[115],"walking":[119],"presence":[122],"perturbation.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
