{"id":"https://openalex.org/W2037739750","doi":"https://doi.org/10.1109/ssd.2014.6808778","title":"Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion","display_name":"Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion","publication_year":2014,"publication_date":"2014-02-01","ids":{"openalex":"https://openalex.org/W2037739750","doi":"https://doi.org/10.1109/ssd.2014.6808778","mag":"2037739750"},"language":"en","primary_location":{"id":"doi:10.1109/ssd.2014.6808778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssd.2014.6808778","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE 11th International Multi-Conference on Systems, Signals & Devices (SSD14)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00945690","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090059952","display_name":"David Galdeano","orcid":"https://orcid.org/0000-0002-5295-4231"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"David Galdeano","raw_affiliation_strings":["LIRMM, UMR 5506, Montpellier Cedex 5, France","LIRMM, Universit\u00e9 Montpellier 2, LIRMM - UMR 5506 - CC 477, 161 rue Ada, 34095 Cedex 5, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, UMR 5506, Montpellier Cedex 5, France","institution_ids":["https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, Universit\u00e9 Montpellier 2, LIRMM - UMR 5506 - CC 477, 161 rue Ada, 34095 Cedex 5, France","institution_ids":["https://openalex.org/I19894307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026408399","display_name":"Ahmed Chemori","orcid":"https://orcid.org/0000-0001-9739-9473"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmed Chemori","raw_affiliation_strings":["LIRMM, UMR 5506, Montpellier Cedex 5, France","LIRMM, Universit\u00e9 Montpellier 2, LIRMM - UMR 5506 - CC 477, 161 rue Ada, 34095 Cedex 5, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, UMR 5506, Montpellier Cedex 5, France","institution_ids":["https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, Universit\u00e9 Montpellier 2, LIRMM - UMR 5506 - CC 477, 161 rue Ada, 34095 Cedex 5, France","institution_ids":["https://openalex.org/I19894307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105424584","display_name":"S\u00e9bastien Krut","orcid":null},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sebastien Krut","raw_affiliation_strings":["LIRMM, UMR 5506, Montpellier Cedex 5, France","LIRMM, Universit\u00e9 Montpellier 2, LIRMM - UMR 5506 - CC 477, 161 rue Ada, 34095 Cedex 5, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, UMR 5506, Montpellier Cedex 5, France","institution_ids":["https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, Universit\u00e9 Montpellier 2, LIRMM - UMR 5506 - CC 477, 161 rue Ada, 34095 Cedex 5, France","institution_ids":["https://openalex.org/I19894307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Fraisse","raw_affiliation_strings":["LIRMM, UMR 5506, Montpellier Cedex 5, France","LIRMM, Universit\u00e9 Montpellier 2, LIRMM - UMR 5506 - CC 477, 161 rue Ada, 34095 Cedex 5, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, UMR 5506, Montpellier Cedex 5, France","institution_ids":["https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, Universit\u00e9 Montpellier 2, LIRMM - UMR 5506 - CC 477, 161 rue Ada, 34095 Cedex 5, France","institution_ids":["https://openalex.org/I19894307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5771,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.68819726,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9991000294685364,"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":0.9891999959945679,"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":0.8171809911727905},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6983308792114258},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6520806550979614},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6282327771186829},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5337287783622742},{"id":"https://openalex.org/keywords/squat","display_name":"Squat","score":0.49905991554260254},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4933430254459381},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4893483519554138},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4781023859977722},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4668363332748413},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34489041566848755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31697744131088257},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30351847410202026},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20861583948135376},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.09287101030349731}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8171809911727905},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6983308792114258},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6520806550979614},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6282327771186829},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5337287783622742},{"id":"https://openalex.org/C2778820510","wikidata":"https://www.wikidata.org/wiki/Q1755746","display_name":"Squat","level":2,"score":0.49905991554260254},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4933430254459381},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4893483519554138},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4781023859977722},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4668363332748413},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34489041566848755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31697744131088257},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30351847410202026},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20861583948135376},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.09287101030349731},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ssd.2014.6808778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssd.2014.6808778","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE 11th International Multi-Conference on Systems, Signals & Devices (SSD14)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-00945690v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00945690","pdf_url":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ssd-conf.org/ssd14/index.php?site=index&conf=SAC","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-00945690v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00945690","pdf_url":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ssd-conf.org/ssd14/index.php?site=index&conf=SAC","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W89513112","https://openalex.org/W1494650646","https://openalex.org/W1564897360","https://openalex.org/W1979030003","https://openalex.org/W1986014633","https://openalex.org/W2016920359","https://openalex.org/W2042803738","https://openalex.org/W2072763216","https://openalex.org/W2100896431","https://openalex.org/W2101574029","https://openalex.org/W2109026728","https://openalex.org/W2131232094","https://openalex.org/W2133859362","https://openalex.org/W2135929901","https://openalex.org/W2140143700","https://openalex.org/W2151003079","https://openalex.org/W2153577013","https://openalex.org/W2162462196","https://openalex.org/W2170620126","https://openalex.org/W2505576567","https://openalex.org/W3217246742","https://openalex.org/W6644880331","https://openalex.org/W6684816303"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W1532965292","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2151682110","https://openalex.org/W2356070666","https://openalex.org/W2541058374","https://openalex.org/W2540452882","https://openalex.org/W2778262232","https://openalex.org/W1532677580"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,26],"task":[4],"based":[5],"whole-body":[6,55],"control":[7,20,69],"strategy":[8],"is":[9,46],"proposed":[10,43,68],"for":[11],"humanoid":[12],"robots.":[13],"Its":[14],"basic":[15],"idea":[16],"lies":[17],"in":[18],"the":[19,23,30,42,64,67],"of":[21,33,66],"(i)":[22],"CoM":[24],"with":[25],"ZMP":[27],"regulation,":[28],"(ii)":[29],"relative":[31],"pose":[32],"robot's":[34],"feet":[35],"and":[36],"(iii)":[37],"joint's":[38],"limit":[39],"avoidance.":[40],"Through":[41],"study,":[44],"it":[45],"shown":[47],"that":[48],"these":[49],"tasks":[50],"allow":[51],"to":[52,62],"produce":[53],"smooth":[54],"motions.":[56],"Real-time":[57],"experimentation":[58],"results":[59],"are":[60],"presented":[61],"show":[63],"effectiveness":[65],"scheme.":[70]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}