{"id":"https://openalex.org/W3004813982","doi":"https://doi.org/10.1109/tsmc.2018.2855190","title":"A Theoretical Framework for Stability Regions for Standing Balance of Humanoids Based on Their LIPM Treatment","display_name":"A Theoretical Framework for Stability Regions for Standing Balance of Humanoids Based on Their LIPM Treatment","publication_year":2018,"publication_date":"2018-07-31","ids":{"openalex":"https://openalex.org/W3004813982","doi":"https://doi.org/10.1109/tsmc.2018.2855190","mag":"3004813982"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2018.2855190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2018.2855190","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5100333069","display_name":"Jung Hoon Kim","orcid":"https://orcid.org/0000-0002-5387-2895"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]},{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung Hoon Kim","raw_affiliation_strings":["Center for Intelligent & Interactive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","Department of Electrical Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-5387-2895","affiliations":[{"raw_affiliation_string":"Center for Intelligent & Interactive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Department of Electrical Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004089240","display_name":"Jongwoo Lee","orcid":"https://orcid.org/0000-0002-3434-0121"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]},{"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":["KR","US"],"is_corresponding":false,"raw_author_name":"Jongwoo Lee","raw_affiliation_strings":["Center for Intelligent & Interactive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3434-0121","affiliations":[{"raw_affiliation_string":"Center for Intelligent & Interactive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"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/A5107873500","display_name":"Yonghwan Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghwan Oh","raw_affiliation_strings":["Center for Intelligent & Interactive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent & Interactive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0821,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.76390236,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"50","issue":"11","first_page":"4569","last_page":"4586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.961899995803833,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9598000049591064,"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/mathematics","display_name":"Mathematics","score":0.5643636584281921},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5643547773361206},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.5231462717056274},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4793042242527008},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.428791344165802},{"id":"https://openalex.org/keywords/finite-set","display_name":"Finite set","score":0.4161968231201172},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.40413904190063477},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3088885545730591},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2902349531650543},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1448792815208435},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.13755279779434204},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.08335259556770325}],"concepts":[{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5643636584281921},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5643547773361206},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.5231462717056274},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4793042242527008},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.428791344165802},{"id":"https://openalex.org/C162392398","wikidata":"https://www.wikidata.org/wiki/Q272404","display_name":"Finite set","level":2,"score":0.4161968231201172},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.40413904190063477},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3088885545730591},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2902349531650543},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1448792815208435},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.13755279779434204},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.08335259556770325},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tsmc.2018.2855190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2018.2855190","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},{"id":"pmh:oai:oasis.postech.ac.kr:2014.oak/102494","is_oa":false,"landing_page_url":"https://oasis.postech.ac.kr/handle/2014.oak/102494","pdf_url":null,"source":{"id":"https://openalex.org/S4306401965","display_name":"Open Access System for Information Sharing (Pohang University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I123900574","host_organization_name":"Pohang University of Science and Technology","host_organization_lineage":["https://openalex.org/I123900574"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1511275238","https://openalex.org/W1519543928","https://openalex.org/W1543324232","https://openalex.org/W1549831266","https://openalex.org/W1909540243","https://openalex.org/W1927642452","https://openalex.org/W1967365365","https://openalex.org/W1968160270","https://openalex.org/W1970970120","https://openalex.org/W1978083641","https://openalex.org/W1987580649","https://openalex.org/W1996511732","https://openalex.org/W1997111443","https://openalex.org/W2037729465","https://openalex.org/W2043051893","https://openalex.org/W2045243564","https://openalex.org/W2045834742","https://openalex.org/W2051287096","https://openalex.org/W2065326178","https://openalex.org/W2074473514","https://openalex.org/W2079995373","https://openalex.org/W2084871167","https://openalex.org/W2089794599","https://openalex.org/W2095840481","https://openalex.org/W2097368845","https://openalex.org/W2104479525","https://openalex.org/W2106863585","https://openalex.org/W2118840382","https://openalex.org/W2120901264","https://openalex.org/W2127580532","https://openalex.org/W2128166584","https://openalex.org/W2131965724","https://openalex.org/W2133859362","https://openalex.org/W2137300190","https://openalex.org/W2145944877","https://openalex.org/W2146138727","https://openalex.org/W2149407815","https://openalex.org/W2153190828","https://openalex.org/W2162109810","https://openalex.org/W2174324541","https://openalex.org/W2275927702","https://openalex.org/W2320933221","https://openalex.org/W2343497614","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W2546803873","https://openalex.org/W2737772593","https://openalex.org/W2741170428","https://openalex.org/W6639900609"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2350715914","https://openalex.org/W2120821724","https://openalex.org/W2504004674","https://openalex.org/W2379529020","https://openalex.org/W2101175215","https://openalex.org/W2893549521","https://openalex.org/W2330311678","https://openalex.org/W2352322616"],"abstract_inverted_index":{"The":[0,123],"aim":[1],"of":[2,18,22,35,82,97,103,120,126,155,168,174,231,258,280],"this":[3,75,143,207,286],"paper":[4,76,287],"is":[5,44,63,69,148,161,225,234,273,288],"to":[6,15,249],"construct":[7],"a":[8,117,152],"theoretical":[9],"framework":[10],"for":[11,237],"stability":[12,85,101,124,246,252],"analysis":[13],"relevant":[14],"standing":[16],"balance":[17],"humanoids":[19],"on":[20,48],"top":[21],"the":[23,33,39,49,54,57,60,66,72,83,95,98,100,104,146,159,210,218,223,239,243,250,274,278,281],"linear":[24,121,156],"inverted":[25],"pendulum":[26],"model,":[27],"in":[28,142,206,285],"which":[29],"their":[30,184],"dynamics":[31],"between":[32,56],"center":[34],"mass":[36],"(CoM)":[37],"and":[38,59,108,134,177,183,194],"zero":[40],"moment":[41],"point":[42],"(ZMP)":[43],"dealt":[45,140],"with.":[46],"Based":[47],"well-known":[50],"sufficient":[51],"condition":[52],"that":[53,242],"contact":[55],"ground":[58],"support":[61],"leg":[62],"stable":[64],"if":[65],"corresponding":[67],"ZMP":[68],"always":[70],"inside":[71],"supporting":[73],"region,":[74],"aims":[77],"at":[78],"characterizing":[79],"three":[80],"types":[81],"associated":[84],"regions.":[86],"More":[87],"precisely,":[88],"assuming":[89],"no":[90],"external":[91],"force":[92,128,133,136,172],"disturbances":[93,129,137,173],"affecting":[94],"motion":[96],"humanoids,":[99],"region":[102],"initial":[105],"CoM":[106],"position":[107],"velocity":[109],"values":[110],"can":[111,212],"be":[112,213],"explicitly":[113],"computed":[114,205],"by":[115,164,216],"solving":[116,217],"finite":[118,153,175,178],"number":[119,154],"inequalities.":[122],"regions":[125,247,253],"time-invariant":[127],"such":[130],"as":[131],"impulsive":[132],"constant":[135],"are":[138,180,204],"also":[139],"with":[141,254],"paper,":[144,208],"where":[145,209,266],"former":[147,211],"exactly":[149,214],"obtained":[150,215,245],"through":[151,228,290],"inequalities":[157],"while":[158,222],"latter":[160,224],"approximately":[162,226,244],"derived":[163,227],"using":[165],"an":[166,229,255],"idea":[167,230],"truncation.":[169,232],"Furthermore,":[170],"time-varying":[171],"energy":[176],"amplitude":[179],"concerned":[181],"with,":[182],"maximum":[185],"admissible":[186],"<inline-formula":[187,195,259,267],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[188,196,260,268],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[189,197,261,269],"<tex-math":[190,198,262,270],"notation=\"LaTeX\">${l}":[191,199],"_{2}$":[192],"</tex-math></inline-formula>":[193,202,264,272],"_{\\infty":[200],"}$":[201],"norms":[203],"discrete-time":[219],"Lyapunov":[220],"equation":[221],"It":[233],"further":[235],"shown":[236],"both":[238],"truncation":[240,275],"ideas":[241],"converge":[248],"exact":[251],"exponential":[256],"order":[257],"notation=\"LaTeX\">${N}$":[263,271],",":[265],"parameter.":[276],"Finally,":[277],"effectiveness":[279],"computation":[282],"methods":[283],"proposed":[284],"demonstrated":[289],"some":[291],"simulation":[292],"results.":[293]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
