{"id":"https://openalex.org/W4312408412","doi":"https://doi.org/10.1109/iros47612.2022.9981804","title":"Integration of Variable-height and Hopping Strategies for Humanoid Push Recovery","display_name":"Integration of Variable-height and Hopping Strategies for Humanoid Push Recovery","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312408412","doi":"https://doi.org/10.1109/iros47612.2022.9981804"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981804","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/A5019612202","display_name":"Ko Yamamoto","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ko Yamamoto","raw_affiliation_strings":["Univ. of Tokyo,Department of Mechano-informatics,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Tokyo,Department of Mechano-informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100772473","display_name":"Naoki Kobayashi","orcid":"https://orcid.org/0000-0002-0537-0604"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoki Kobayashi","raw_affiliation_strings":["Univ. of Tokyo,Department of Mechano-informatics,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Tokyo,Department of Mechano-informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003940459","display_name":"Taiki Ishigaki","orcid":"https://orcid.org/0000-0002-9122-8187"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taiki Ishigaki","raw_affiliation_strings":["Univ. of Tokyo,Department of Mechano-informatics,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Tokyo,Department of Mechano-informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015199254","display_name":"Yuichi Sakemi","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichi Sakemi","raw_affiliation_strings":["Univ. of Tokyo,Department of Mechano-informatics,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Tokyo,Department of Mechano-informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9582,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.73766312,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"12979","last_page":"12985"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9668999910354614,"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/variable","display_name":"Variable (mathematics)","score":0.7942636013031006},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6469755172729492},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5441665649414062},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4829382300376892},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.460460901260376},{"id":"https://openalex.org/keywords/falling","display_name":"Falling (accident)","score":0.45531710982322693},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33152416348457336},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3241576850414276},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.215623676776886},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14065226912498474},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13439369201660156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10756883025169373}],"concepts":[{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.7942636013031006},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6469755172729492},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5441665649414062},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4829382300376892},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.460460901260376},{"id":"https://openalex.org/C2779079380","wikidata":"https://www.wikidata.org/wiki/Q333495","display_name":"Falling (accident)","level":2,"score":0.45531710982322693},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33152416348457336},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3241576850414276},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.215623676776886},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14065226912498474},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13439369201660156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10756883025169373},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"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/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981804","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":[{"display_name":"Life below water","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2002803749","https://openalex.org/W2036484113","https://openalex.org/W2065326178","https://openalex.org/W2068935277","https://openalex.org/W2074042377","https://openalex.org/W2118840382","https://openalex.org/W2127580532","https://openalex.org/W2130117525","https://openalex.org/W2143729862","https://openalex.org/W2150388681","https://openalex.org/W2153190828","https://openalex.org/W2341336767","https://openalex.org/W2539534359","https://openalex.org/W2543545354","https://openalex.org/W2570283482","https://openalex.org/W2737165520","https://openalex.org/W2904570303","https://openalex.org/W2964324732","https://openalex.org/W3011551162","https://openalex.org/W3096749928","https://openalex.org/W3134213502","https://openalex.org/W3190276978","https://openalex.org/W3205983103"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2746852369","https://openalex.org/W815011690","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W2402151266","https://openalex.org/W1593091151","https://openalex.org/W2137148658"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"we":[3,74],"present":[4],"a":[5,20,40,44,49],"framework":[6,38],"to":[7,22,56],"en-sure":[8],"seamless":[9,50],"transition":[10,51],"in":[11],"humanoid":[12],"push":[13],"recovery":[14],"involving":[15],"hopping":[16,41,58,78],"strategy.":[17,36],"We":[18,60],"propose":[19],"method":[21],"adaptively":[23],"change":[24],"the":[25,30,53,57,62,70,77],"time":[26],"constant":[27],"that":[28,76],"integrated":[29],"ankle":[31],"strategy":[32,67,79],"and":[33],"variable":[34,54],"height":[35,55],"This":[37],"excites":[39],"motion":[42],"against":[43],"large":[45],"disturbance,":[46],"which":[47],"provides":[48],"from":[52],"strategies.":[59],"analyze":[61],"applicable":[63],"region":[64],"of":[65],"each":[66],"based":[68],"on":[69],"simplified":[71],"model.":[72],"Moreover,":[73],"show":[75],"prevents":[80],"falling":[81],"through":[82],"whole-body":[83],"dynamic":[84],"simulations.":[85]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}