{"id":"https://openalex.org/W3195103154","doi":"https://doi.org/10.1109/iros51168.2021.9636634","title":"Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots","display_name":"Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3195103154","doi":"https://doi.org/10.1109/iros51168.2021.9636634","mag":"3195103154"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636634","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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/A5043901029","display_name":"Shunpeng Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shunpeng Yang","raw_affiliation_strings":["Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001058965","display_name":"Hua Chen","orcid":"https://orcid.org/0000-0002-4252-8693"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Chen","raw_affiliation_strings":["Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111882856","display_name":"Fu Zhen","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Fu","raw_affiliation_strings":["Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100441694","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-7511-2870"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"101","issue":null,"first_page":"7432","last_page":"7439"},"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":0.9939000010490417,"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":0.9710000157356262,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7716901302337646},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7587879300117493},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7533156871795654},{"id":"https://openalex.org/keywords/stabilizer","display_name":"Stabilizer (aeronautics)","score":0.689528226852417},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6064481139183044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5743042826652527},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5722489356994629},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5678060054779053},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5677304267883301},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5435542464256287},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5036210417747498},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3671293258666992},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3669359087944031},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2847142815589905},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23524579405784607},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13793396949768066},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10113364458084106},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09790211915969849}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7716901302337646},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7587879300117493},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7533156871795654},{"id":"https://openalex.org/C2777502316","wikidata":"https://www.wikidata.org/wiki/Q2712515","display_name":"Stabilizer (aeronautics)","level":2,"score":0.689528226852417},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6064481139183044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5743042826652527},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5722489356994629},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5678060054779053},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5677304267883301},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5435542464256287},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5036210417747498},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3671293258666992},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3669359087944031},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2847142815589905},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23524579405784607},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13793396949768066},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10113364458084106},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09790211915969849},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636634","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W566530810","https://openalex.org/W618254468","https://openalex.org/W1939926247","https://openalex.org/W1945123189","https://openalex.org/W1968294545","https://openalex.org/W1987580649","https://openalex.org/W2000535285","https://openalex.org/W2003013030","https://openalex.org/W2111966261","https://openalex.org/W2122827816","https://openalex.org/W2129224530","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2139889932","https://openalex.org/W2142992961","https://openalex.org/W2158782408","https://openalex.org/W2175083043","https://openalex.org/W2521503884","https://openalex.org/W2614308505","https://openalex.org/W2738509237","https://openalex.org/W2913971027","https://openalex.org/W2967793392","https://openalex.org/W2972798201","https://openalex.org/W2989734230","https://openalex.org/W3091173443","https://openalex.org/W3113883030","https://openalex.org/W6727167696"],"related_works":["https://openalex.org/W2168647525","https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W1859914877","https://openalex.org/W2163503851"],"abstract_inverted_index":{"This":[0],"paper":[1,47],"studies":[2],"stabilizer":[3,54,86,109],"design":[4],"for":[5,14],"position-controlled":[6,15,79],"humanoid":[7],"robots.":[8],"Stabilizers":[9],"are":[10],"an":[11],"essential":[12],"part":[13],"humanoids,":[16],"whose":[17],"primary":[18],"objective":[19],"is":[20,110],"to":[21,27,30,35,67,132],"adjust":[22],"the":[23,28,32,38,58,64,84,97,107,113,118,138,142],"control":[24],"input":[25],"sent":[26],"robot":[29,116],"assist":[31],"tracking":[33,69,99],"controller":[34],"better":[36],"follow":[37],"planned":[39],"reference":[40],"trajectory.":[41],"To":[42],"achieve":[43],"this":[44,46],"goal,":[45],"develops":[48],"a":[49,124],"novel":[50],"force-feedback":[51],"based":[52,89,136],"whole-body":[53,65,76],"that":[55,91],"fully":[56],"exploits":[57],"six-dimensional":[59],"force":[60,102],"measurement":[61],"information":[62],"and":[63,100,141],"dynamics":[66,77],"improve":[68],"performance.":[70],"Relying":[71],"on":[72,112,137],"rigorous":[73],"analysis":[74],"of":[75,78,95,106],"humanoids":[80],"under":[81],"unknown":[82],"contact,":[83],"developed":[85],"leverages":[87],"quadratic-programming":[88],"technique":[90],"allows":[92],"cooperative":[93],"consideration":[94],"both":[96],"center-of-mass":[98],"contact":[101],"tracking.":[103],"The":[104],"effectiveness":[105],"proposed":[108],"demonstrated":[111],"UBTECH":[114],"Walker":[115],"in":[117,127],"MuJoCo":[119],"simulator.":[120],"Simulation":[121],"validations":[122],"show":[123],"significant":[125],"improvement":[126],"various":[128],"scenarios":[129],"as":[130],"compared":[131],"commonly":[133],"adopted":[134],"stabilizers":[135],"zero-moment-point":[139],"feedback":[140],"linear":[143],"inverted":[144],"pendulum":[145],"model.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}