{"id":"https://openalex.org/W4400975146","doi":"https://doi.org/10.1109/lra.2024.3433750","title":"Compliant Contacts Balance-Force Controller for Legged Robots","display_name":"Compliant Contacts Balance-Force Controller for Legged Robots","publication_year":2024,"publication_date":"2024-07-25","ids":{"openalex":"https://openalex.org/W4400975146","doi":"https://doi.org/10.1109/lra.2024.3433750"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3433750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3433750","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04826145/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022924114","display_name":"Marwan Hamze","orcid":"https://orcid.org/0009-0008-7845-9985"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Marwan Hamze","raw_affiliation_strings":["Faculty of Advanced Engineering, Tokyo University of Science, Tokyo, Japan","Tokyo University of Science [Tokyo] (6-3-1 Niijuku Katsushika-Ku, Tokyo 125-8585 Japan - Japan)"],"raw_orcid":"https://orcid.org/0009-0008-7845-9985","affiliations":[{"raw_affiliation_string":"Faculty of Advanced Engineering, Tokyo University of Science, Tokyo, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Tokyo University of Science [Tokyo] (6-3-1 Niijuku Katsushika-Ku, Tokyo 125-8585 Japan - Japan)","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021406076","display_name":"Mehdi Benallegue","orcid":"https://orcid.org/0000-0001-7537-9498"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mehdi Benallegue","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)"],"raw_orcid":"https://orcid.org/0000-0001-7537-9498","affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039123647","display_name":"Rafael Cisneros","orcid":"https://orcid.org/0000-0002-0850-070X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rafael Cisneros","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)"],"raw_orcid":"https://orcid.org/0000-0002-0850-070X","affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018772653","display_name":"Abdelaziz Benallegue","orcid":"https://orcid.org/0000-0003-2316-7981"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Abdelaziz Benallegue","raw_affiliation_strings":["Université Paris-Saclay, Laboratoire d'Ingénierie des Systèmes de Versailles, Vélizy, France"],"raw_orcid":"https://orcid.org/0000-0003-2316-7981","affiliations":[{"raw_affiliation_string":"Université Paris-Saclay, Laboratoire d'Ingénierie des Systèmes de Versailles, Vélizy, France","institution_ids":["https://openalex.org/I277688954"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022924114"],"corresponding_institution_ids":["https://openalex.org/I161296585"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09943515,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":"11","first_page":"9231","last_page":"9238"},"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":0.9991999864578247,"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":0.9959999918937683,"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/balance","display_name":"Balance (ability)","score":0.6729224324226379},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6452858448028564},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37841111421585083},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.12292340397834778},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10450994968414307},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07618656754493713}],"concepts":[{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.6729224324226379},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6452858448028564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37841111421585083},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.12292340397834778},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10450994968414307},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07618656754493713}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3433750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3433750","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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:HAL:hal-04826145v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04826145","pdf_url":"https://hal.science/hal-04826145/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2024, 9 (11), pp.9231-9238. ⟨10.1109/LRA.2024.3433750⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04826145v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04826145","pdf_url":"https://hal.science/hal-04826145/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2024, 9 (11), pp.9231-9238. ⟨10.1109/LRA.2024.3433750⟩","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400975146.pdf","grobid_xml":"https://content.openalex.org/works/W4400975146.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1622891528","https://openalex.org/W1987580649","https://openalex.org/W1994275787","https://openalex.org/W2006011266","https://openalex.org/W2009210083","https://openalex.org/W2112405625","https://openalex.org/W2153190828","https://openalex.org/W2166185271","https://openalex.org/W2169155458","https://openalex.org/W2204604557","https://openalex.org/W2205656927","https://openalex.org/W2255696229","https://openalex.org/W2469817133","https://openalex.org/W2546218531","https://openalex.org/W2793939639","https://openalex.org/W2890575998","https://openalex.org/W2912495410","https://openalex.org/W2967793392","https://openalex.org/W3000354568","https://openalex.org/W3011337332","https://openalex.org/W3091560055","https://openalex.org/W3137245358","https://openalex.org/W6605425664"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3],"propose":[4],"a":[5,78],"controller":[6,19,90],"for":[7],"legged":[8,112],"robots":[9],"that":[10,51],"takes":[11],"into":[12],"account":[13],"the":[14,31,39,54,57,67,82,89,107],"individual":[15],"contact":[16,44],"compliance.":[17],"This":[18],"is":[20,72],"able":[21],"to":[22,38,93,95],"achieve":[23],"both":[24],"balance":[25],"stabilization":[26],"and":[27,47,59,98,114],"force":[28,60],"control":[29,70],"in":[30,34,104,111],"same":[32],"loop":[33],"task":[35],"space":[36],"thanks":[37],"use":[40],"of":[41,56,81,88],"an":[42],"explicit":[43],"flexibility":[45],"model":[46,80],"simplified":[48],"centroidal":[49],"dynamics":[50],"allow":[52],"exploiting":[53],"redundancy":[55],"kinematic":[58],"feedback,":[61],"while":[62],"making":[63],"multiple":[64],"contacts":[65,113],"with":[66,91],"environment.":[68],"The":[69,86],"problem":[71],"formulated":[73],"as":[74],"LQR":[75],"based":[76],"on":[77,106],"linearized":[79],"reduced":[83],"non-linear":[84],"model.":[85],"performance":[87],"regard":[92],"robustness":[94],"modeling":[96],"error":[97],"external":[99],"perturbations":[100],"has":[101],"been":[102],"tested":[103],"experiments":[105],"position-control":[108],"robot":[109],"HRP-2KAI,":[110],"multi-contact":[115],"modes.":[116]},"counts_by_year":[],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}