{"id":"https://openalex.org/W2806547618","doi":"https://doi.org/10.1109/tro.2018.2830387","title":"Humanoid Dynamic Synchronization Through Whole-Body Bilateral Feedback Teleoperation","display_name":"Humanoid Dynamic Synchronization Through Whole-Body Bilateral Feedback Teleoperation","publication_year":2018,"publication_date":"2018-06-08","ids":{"openalex":"https://openalex.org/W2806547618","doi":"https://doi.org/10.1109/tro.2018.2830387","mag":"2806547618"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2830387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2830387","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-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/A5061064898","display_name":"Jo\u00e3o Ramos","orcid":"https://orcid.org/0000-0002-6169-2763"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joao Ramos","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6169-2763","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.5644,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.89435946,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"34","issue":"4","first_page":"953","last_page":"965"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9987000226974487,"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":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7118252515792847},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.654242217540741},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6366630792617798},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.612212061882019},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5787006616592407},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5594611763954163},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.4728807806968689},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.43953073024749756},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.43736371397972107},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3709779381752014},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36648768186569214},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2717493176460266},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26458674669265747},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12537440657615662}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7118252515792847},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.654242217540741},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6366630792617798},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.612212061882019},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5787006616592407},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5594611763954163},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.4728807806968689},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.43953073024749756},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.43736371397972107},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3709779381752014},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36648768186569214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2717493176460266},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26458674669265747},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12537440657615662},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2018.2830387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2830387","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W290152346","https://openalex.org/W1502712385","https://openalex.org/W1578493773","https://openalex.org/W1945123189","https://openalex.org/W1964173271","https://openalex.org/W1980780059","https://openalex.org/W1994634749","https://openalex.org/W1998938117","https://openalex.org/W2001757193","https://openalex.org/W2012424743","https://openalex.org/W2046636826","https://openalex.org/W2056023335","https://openalex.org/W2061232002","https://openalex.org/W2074042377","https://openalex.org/W2074844899","https://openalex.org/W2080487795","https://openalex.org/W2081683070","https://openalex.org/W2125709825","https://openalex.org/W2126729486","https://openalex.org/W2132992113","https://openalex.org/W2149407815","https://openalex.org/W2150388681","https://openalex.org/W2151003079","https://openalex.org/W2198839866","https://openalex.org/W2204621143","https://openalex.org/W2539534359","https://openalex.org/W2570623655"],"related_works":["https://openalex.org/W2906540835","https://openalex.org/W4311378573","https://openalex.org/W2008173091","https://openalex.org/W4205685544","https://openalex.org/W2290469857","https://openalex.org/W1584069627","https://openalex.org/W3184991790","https://openalex.org/W2885749498","https://openalex.org/W1586390051","https://openalex.org/W4281381717"],"abstract_inverted_index":{"This":[0,162],"paper":[1],"presents":[2],"a":[3,112,116],"method":[4],"to":[5,41,43,86,105,129,134,143,155,169,179],"achieve":[6],"human":[7,27,68,113],"and":[8,32,49,79,98,132,146],"legged":[9,171],"robot":[10,45,107,119,154],"dynamic":[11],"synchronization":[12],"through":[13],"bilateral":[14],"feedback":[15,69],"teleoperation.":[16],"Our":[17],"study":[18,166],"shows":[19],"how":[20,87,100,121,147],"we":[21,82,138,148],"can":[22,149],"explore":[23],"the":[24,33,37,44,46,53,58,67,73,88,95,101,122,140,151,160],"interplay":[25],"between":[26],"Extrapolated":[28],"Center":[29],"of":[30,91],"Mass":[31],"contact":[34],"forces":[35],"with":[36,66,159],"environment":[38],"in":[39,77,110],"order":[40],"transmit":[42],"underlying":[47],"balancing":[48],"stepping":[50],"strategy.":[51],"All":[52],"necessary":[54],"key":[55],"equations":[56],"for":[57,175],"frontal":[59],"plane":[60],"coupled":[61,102],"dynamics":[62],"are":[63],"presented":[64],"along":[65],"law":[70],"derived":[71],"from":[72],"proposed":[74],"state":[75],"normalization":[76],"length":[78],"time.":[80],"Here,":[81],"pay":[83],"special":[84],"attention":[85],"natural":[89],"frequency":[90],"each":[92],"system":[93,103],"influences":[94],"resulting":[96],"motion":[97],"analyze":[99],"responds":[104,133],"various":[106],"sizes.":[108],"Experiments":[109],"which":[111],"operator":[114],"controls":[115],"simulated":[117],"bipedal":[118],"show":[120,139],"Balance":[123],"Feedback":[124],"Interface":[125],"force":[126],"varies":[127],"according":[128],"different":[130],"scales":[131],"external":[135],"disturbances.":[136],"Finally,":[137],"method's":[141],"robustness":[142],"uneven":[144],"terrain":[145],"allow":[150],"point":[152],"feet":[153],"synchronously":[156],"take":[157],"steps":[158],"operator.":[161],"is":[163],"an":[164],"introductory":[165],"that":[167],"aims":[168],"grant":[170],"robots":[172],"motor":[173],"capabilities":[174],"power":[176],"manipulation":[177],"comparable":[178],"humans.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
