{"id":"https://openalex.org/W4416748399","doi":"https://doi.org/10.1109/iros60139.2025.11247546","title":"Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering","display_name":"Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748399","doi":"https://doi.org/10.1109/iros60139.2025.11247546"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5011276187","display_name":"Evelyn D\u2019Elia","orcid":"https://orcid.org/0009-0000-4355-4722"},"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":"Evelyn D\u2019Elia","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077361406","display_name":"Paolo Maria Viceconte","orcid":"https://orcid.org/0000-0002-6903-4458"},"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":"Paolo Maria Viceconte","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055359913","display_name":"Lorenzo Rapetti","orcid":"https://orcid.org/0000-0003-3071-9676"},"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":"Lorenzo Rapetti","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060199324","display_name":"Diego Ferigo","orcid":"https://orcid.org/0000-0002-0808-9754"},"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":"Diego Ferigo","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049751640","display_name":"Giulio Romualdi","orcid":"https://orcid.org/0000-0002-6461-3231"},"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":"Giulio Romualdi","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072898940","display_name":"Giuseppe L\u2019Erario","orcid":"https://orcid.org/0000-0001-6042-3222"},"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":"Giuseppe L\u2019Erario","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052961865","display_name":"Raffaello Camoriano","orcid":"https://orcid.org/0000-0002-8890-2732"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Raffaello Camoriano","raw_affiliation_strings":["Politecnico di Torino,Dipartimento di Automatica e Informatica,Turin,Italy,10129"],"affiliations":[{"raw_affiliation_string":"Politecnico di Torino,Dipartimento di Automatica e Informatica,Turin,Italy,10129","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081455901","display_name":"Daniele Pucci","orcid":"https://orcid.org/0000-0002-7600-3203"},"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":"Daniele Pucci","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5011276187"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38259756,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4781","last_page":"4788"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9351000189781189,"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":0.9351000189781189,"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/T12290","display_name":"Human Motion and Animation","score":0.028200000524520874,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.01119999960064888,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8172000050544739},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6690999865531921},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5254999995231628},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5239999890327454},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4259999990463257},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.40610000491142273},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.383899986743927},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.37790000438690186},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.3695000112056732}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8172000050544739},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6690999865531921},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5322999954223633},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5254999995231628},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5239999890327454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5087000131607056},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4259999990463257},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.40610000491142273},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.383899986743927},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.37790000438690186},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.3695000112056732},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.36169999837875366},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.3562999963760376},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.34119999408721924},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.335999995470047},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.33309999108314514},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.3287999927997589},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3149000108242035},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.3010999858379364},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.29030001163482666},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.27619999647140503},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2761000096797943},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.267300009727478},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2655999958515167},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.260699987411499},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.2597000002861023},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.2563000023365021},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.25450000166893005},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.25200000405311584},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2050835671","https://openalex.org/W2061983716","https://openalex.org/W2074042377","https://openalex.org/W2138136244","https://openalex.org/W2150884987","https://openalex.org/W2152536828","https://openalex.org/W2592835906","https://openalex.org/W2611706523","https://openalex.org/W2777417212","https://openalex.org/W2801567109","https://openalex.org/W2891428573","https://openalex.org/W2899283552","https://openalex.org/W2986332384","https://openalex.org/W2992024580","https://openalex.org/W3006422628","https://openalex.org/W3010768390","https://openalex.org/W3147968035","https://openalex.org/W3163993681","https://openalex.org/W4205634661","https://openalex.org/W4229044820","https://openalex.org/W4288039037","https://openalex.org/W4385027469","https://openalex.org/W4390872595","https://openalex.org/W4394872716","https://openalex.org/W4401414436","https://openalex.org/W4401415103","https://openalex.org/W4404953700","https://openalex.org/W4404965186"],"related_works":[],"abstract_inverted_index":{"Recent":[0],"trends":[1],"in":[2],"humanoid":[3,140],"robot":[4,166],"control":[5,96],"have":[6],"successfully":[7],"employed":[8],"imitation":[9,105],"learning":[10,84,106],"to":[11,67,107,124],"enable":[12],"the":[13,35,48,52,58,88,92,125,138,155,170],"learned":[14],"generation":[15],"of":[16,37,91,176],"smooth,":[17],"human-like":[18],"trajectories":[19,69],"from":[20],"human":[21],"data.":[22],"While":[23],"these":[24],"approaches":[25],"make":[26],"more":[27],"realistic":[28],"motions":[29],"possible,":[30],"they":[31,61],"are":[32],"limited":[33],"by":[34,118],"amount":[36],"available":[38],"motion":[39],"data,":[40],"and":[41,54,70,94,167,172],"do":[42],"not":[43],"incorporate":[44],"prior":[45],"knowledge":[46],"about":[47],"physical":[49,173],"laws":[50],"governing":[51],"system":[53,93],"its":[55],"interactions":[56],"with":[57,160],"environment.":[59],"Thus":[60],"may":[62],"violate":[63],"such":[64,79],"laws,":[65],"leading":[66],"divergent":[68],"sliding":[71],"contacts":[72],"which":[73,86],"limit":[74],"real-world":[75],"stability.":[76],"We":[77,129],"address":[78],"limitations":[80],"via":[81],"a":[82,120,143,164],"two-pronged":[83],"strategy":[85],"leverages":[87],"known":[89],"physics":[90,101],"fundamental":[95],"principles.":[97],"First,":[98],"we":[99,112],"encode":[100],"priors":[102],"during":[103],"supervised":[104],"promote":[108],"trajectory":[109],"feasibility.":[110],"Second,":[111],"minimize":[113],"drift":[114],"at":[115],"inference":[116],"time":[117],"applying":[119],"proportional-integral":[121],"controller":[122],"directly":[123],"generated":[126,177],"output":[127],"state.":[128],"validate":[130],"our":[131],"method":[132],"on":[133,163],"various":[134],"locomotion":[135],"behaviors":[136],"for":[137],"ergoCub":[139],"robot,":[141],"where":[142],"physics-informed":[144],"loss":[145],"encourages":[146],"zero":[147],"contact":[148],"foot":[149],"velocity.":[150],"Our":[151],"experiments":[152],"demonstrate":[153],"that":[154],"proposed":[156],"approach":[157],"is":[158],"compatible":[159],"multiple":[161],"controllers":[162],"real":[165],"significantly":[168],"improves":[169],"accuracy":[171],"constraint":[174],"conformity":[175],"trajectories.":[178]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}