{"id":"https://openalex.org/W4312418011","doi":"https://doi.org/10.1109/iros47612.2022.9981895","title":"A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators","display_name":"A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312418011","doi":"https://doi.org/10.1109/iros47612.2022.9981895"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981895","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/A5031492616","display_name":"Mattia Risiglione","orcid":null},"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":true,"raw_author_name":"Mattia Risiglione","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086426608","display_name":"Victor Barasuol","orcid":"https://orcid.org/0000-0003-4966-5743"},"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":"Victor Barasuol","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"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":"Darwin G. Caldwell","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010033061","display_name":"Claudio Semini","orcid":"https://orcid.org/0000-0002-3034-4686"},"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":"Claudio Semini","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031492616"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":3.8557,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.95442279,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"9620","last_page":"9627"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/impedance-control","display_name":"Impedance control","score":0.7550311088562012},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7353247404098511},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5475873947143555},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5458415746688843},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5374377965927124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5102841854095459},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4869152307510376},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42838263511657715},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4283590316772461},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.4271145761013031},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4246987998485565},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41602861881256104},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3666885197162628},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3509184718132019},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1056048572063446},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10120046138763428},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10103186964988708},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0910661518573761}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7550311088562012},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7353247404098511},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5475873947143555},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5458415746688843},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5374377965927124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5102841854095459},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4869152307510376},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42838263511657715},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4283590316772461},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.4271145761013031},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4246987998485565},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41602861881256104},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3666885197162628},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3509184718132019},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1056048572063446},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10120046138763428},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10103186964988708},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0910661518573761},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981895","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":25,"referenced_works":["https://openalex.org/W1789658038","https://openalex.org/W1978023077","https://openalex.org/W2015003349","https://openalex.org/W2040861318","https://openalex.org/W2094444216","https://openalex.org/W2106409551","https://openalex.org/W2110612452","https://openalex.org/W2115676463","https://openalex.org/W2141377539","https://openalex.org/W2171714724","https://openalex.org/W2415044741","https://openalex.org/W2470094176","https://openalex.org/W2571115941","https://openalex.org/W2645990732","https://openalex.org/W2783413321","https://openalex.org/W2891172891","https://openalex.org/W2902156994","https://openalex.org/W2920812058","https://openalex.org/W2944561196","https://openalex.org/W3003609907","https://openalex.org/W3019094582","https://openalex.org/W3142410314","https://openalex.org/W3173939621","https://openalex.org/W3196252681","https://openalex.org/W3206771627"],"related_works":["https://openalex.org/W3212673989","https://openalex.org/W2078580336","https://openalex.org/W2954323201","https://openalex.org/W2583465206","https://openalex.org/W2001273675","https://openalex.org/W2786196354","https://openalex.org/W2127677850","https://openalex.org/W2071387541","https://openalex.org/W1983135609","https://openalex.org/W2789837488"],"abstract_inverted_index":{"Quadrupedal":[0],"manipulators":[1],"require":[2],"to":[3,35,61,105],"be":[4],"compliant":[5],"when":[6,142],"dealing":[7],"with":[8,130],"external":[9,143],"forces":[10,144],"during":[11,181],"autonomous":[12],"manipulation,":[13],"tele-operation":[14],"or":[15],"physical":[16],"human-robot":[17],"interaction.":[18],"This":[19],"paper":[20,152],"presents":[21,153],"a":[22,31,63,97,131,182],"whole-body":[23],"controller":[24,50],"that":[25],"allows":[26,104],"for":[27,42,66,155,165],"the":[28,43,67,85,88,91,94,125,138,148,162,166,172,178],"implementation":[29],"of":[30,90,96],"Cartesian":[32],"impedance":[33,139,173],"control":[34,115],"coordinate":[36],"tracking":[37],"performance":[38,141],"and":[39,46,78,87,103,111],"desired":[40,64],"compliance":[41],"robot":[44,128],"base":[45,89],"manipulator":[47,133],"arm.":[48,134],"The":[49,81,114,151],"is":[51,117,175],"formulated":[52],"through":[53,119],"an":[54,120],"optimization":[55],"problem":[56],"using":[57,124],"Quadratic":[58],"Programming":[59],"(QP)":[60],"impose":[62],"behavior":[65,95],"system":[68],"while":[69],"satisfying":[70],"friction":[71],"cone":[72],"constraints,":[73,76],"unilateral":[74],"force":[75],"joint":[77],"torque":[79],"limits.":[80],"presented":[82],"strategy":[83],"decouples":[84],"arm":[86],"platform,":[92],"enforcing":[93],"linear":[98],"double-mass":[99],"spring":[100],"damper":[101],"system,":[102],"independently":[106],"tune":[107],"their":[108],"inertia,":[109],"stiffness":[110],"damping":[112],"properties.":[113],"architecture":[116],"validated":[118],"extensive":[121],"simulation":[122],"study":[123],"90kg":[126],"HyQ":[127],"equipped":[129],"7-DoF":[132],"Simulation":[135],"results":[136,154],"show":[137],"rendering":[140,174],"are":[145],"applied":[146],"at":[147],"arm's":[149],"end-effector.":[150],"full":[156],"stance":[157],"condition":[158],"(all":[159],"legs":[160],"on":[161],"ground)":[163],"and,":[164],"first":[167],"time,":[168],"also":[169],"shows":[170],"how":[171],"affected":[176],"by":[177],"contact":[179],"conditions":[180],"dynamic":[183],"gait.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}