{"id":"https://openalex.org/W3137245358","doi":"https://doi.org/10.1109/lra.2021.3067589","title":"Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control","display_name":"Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control","publication_year":2021,"publication_date":"2021-03-19","ids":{"openalex":"https://openalex.org/W3137245358","doi":"https://doi.org/10.1109/lra.2021.3067589","mag":"3137245358"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3067589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3067589","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2105.14622","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulio Romualdi","raw_affiliation_strings":["DIBRIS, University of Genoa, Genoa, GE, Italy","Department of Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-6461-3231","affiliations":[{"raw_affiliation_string":"DIBRIS, University of Genoa, Genoa, GE, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071104229","display_name":"Stefano Dafarra","orcid":"https://orcid.org/0000-0002-1575-5188"},"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":"Stefano Dafarra","raw_affiliation_strings":["Department of Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1575-5188","affiliations":[{"raw_affiliation_string":"Department of Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"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":["Department of Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7600-3203","affiliations":[{"raw_affiliation_string":"Department of Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5079,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.55739071,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"6","issue":"3","first_page":"4289","last_page":"4296"},"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":0.9975000023841858,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9828000068664551,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"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":0.8996064066886902},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.6454532146453857},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5902082324028015},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5857656598091125},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.585715651512146},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5850680470466614},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.5827779173851013},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5263028144836426},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.517507791519165},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47595569491386414},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.44251155853271484},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.382209450006485},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34521952271461487},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.330939382314682},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20974934101104736},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17850235104560852},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17622661590576172},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16356906294822693},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.13381507992744446}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8996064066886902},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.6454532146453857},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5902082324028015},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5857656598091125},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.585715651512146},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5850680470466614},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.5827779173851013},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5263028144836426},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.517507791519165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47595569491386414},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.44251155853271484},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.382209450006485},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34521952271461487},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.330939382314682},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20974934101104736},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17850235104560852},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17622661590576172},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16356906294822693},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.13381507992744446},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3067589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3067589","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2105.14622","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.14622","pdf_url":"https://arxiv.org/pdf/2105.14622","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2105.14622","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.14622","pdf_url":"https://arxiv.org/pdf/2105.14622","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W136158718","https://openalex.org/W1495727713","https://openalex.org/W1499277207","https://openalex.org/W1502712385","https://openalex.org/W1559327333","https://openalex.org/W1994541607","https://openalex.org/W2006564886","https://openalex.org/W2016958754","https://openalex.org/W2028555597","https://openalex.org/W2067573049","https://openalex.org/W2088842637","https://openalex.org/W2090974678","https://openalex.org/W2093324968","https://openalex.org/W2099129715","https://openalex.org/W2136253904","https://openalex.org/W2138136244","https://openalex.org/W2141075055","https://openalex.org/W2144351850","https://openalex.org/W2161222115","https://openalex.org/W2163803570","https://openalex.org/W2335044248","https://openalex.org/W2461181622","https://openalex.org/W2535684174","https://openalex.org/W2741009420","https://openalex.org/W2769646558","https://openalex.org/W2776939420","https://openalex.org/W2890302476","https://openalex.org/W2924430754","https://openalex.org/W2963637864","https://openalex.org/W2992024580","https://openalex.org/W3000354568","https://openalex.org/W3002979680","https://openalex.org/W3010682736","https://openalex.org/W3011337332","https://openalex.org/W3101798601","https://openalex.org/W3113479515","https://openalex.org/W3145941942","https://openalex.org/W4211139248","https://openalex.org/W4288093924","https://openalex.org/W6775178951"],"related_works":["https://openalex.org/W2789446524","https://openalex.org/W2963178506","https://openalex.org/W4301244418","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2198321481","https://openalex.org/W2963637864"],"abstract_inverted_index":{"This":[0],"letter":[1,111],"presents":[2],"a":[3,21],"model":[4,16,50,79],"of":[5,23,70,88,104,120,146],"compliant":[6],"contacts":[7,139],"for":[8,83],"time-critical":[9],"humanoid":[10,89,107],"robot":[11],"motion":[12],"control.":[13],"The":[14,77,95],"proposed":[15,49,114],"considers":[17],"the":[18,31,38,42,48,52,68,84,105,110,113,121,129,134,144,147,157],"environment":[19,39],"as":[20],"continuum":[22],"spring-damper":[24],"systems,":[25],"which":[26],"allows":[27],"us":[28],"to":[29,62,67,153],"compute":[30],"equivalent":[32],"contact":[33,43,74,78],"force":[34],"and":[35,54,57,118],"torque":[36],"that":[37,47,132],"exerts":[40],"on":[41,92],"surface.":[44],"We":[45,141],"show":[46],"extends":[51],"linear":[53],"rotational":[55],"springs":[56],"dampers":[58],"\u2013":[59,66],"classically":[60],"used":[61,82],"characterize":[63],"soft":[64],"terrains":[65],"case":[69],"<italic":[71],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[72],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">large</i>":[73],"surface":[75],"orientations.":[76],"is":[80,98],"then":[81],"real-time":[85],"whole-body":[86,115],"control":[87,116,149],"robots":[90],"walking":[91,102],"visco-elastic":[93],"environments.":[94],"overall":[96],"approach":[97],"validated":[99],"by":[100],"simulating":[101],"motions":[103],"iCub":[106],"robot.":[108],"Furthermore,":[109],"compares":[112],"strategy":[117],"state":[119],"art":[122],"approaches.":[123],"In":[124],"this":[125],"respect,":[126],"we":[127],"investigate":[128],"terrain":[130],"compliance":[131],"makes":[133],"classical":[135],"approaches":[136],"assuming":[137],"rigid":[138],"fail.":[140],"finally":[142],"analyze":[143],"robustness":[145],"presented":[148],"design":[150],"with":[151],"respect":[152],"non-parametric":[154],"uncertainty":[155],"in":[156],"contact-model.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}