{"id":"https://openalex.org/W4390481187","doi":"https://doi.org/10.1109/humanoids57100.2023.10375177","title":"Implementing Torque Control-Based Biped Walking of Humanoid Robots with High Reduction Gear and No Joint Torque Feedback","display_name":"Implementing Torque Control-Based Biped Walking of Humanoid Robots with High Reduction Gear and No Joint Torque Feedback","publication_year":2023,"publication_date":"2023-12-12","ids":{"openalex":"https://openalex.org/W4390481187","doi":"https://doi.org/10.1109/humanoids57100.2023.10375177"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids57100.2023.10375177","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids57100.2023.10375177","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-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/A5050894191","display_name":"Yun-Ho Han","orcid":"https://orcid.org/0000-0002-6676-1334"},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yun-Ho Han","raw_affiliation_strings":["Kookmin University,RcLab,South Korea","RcLab, Kookmin University, South Korea"],"affiliations":[{"raw_affiliation_string":"Kookmin University,RcLab,South Korea","institution_ids":["https://openalex.org/I110273157"]},{"raw_affiliation_string":"RcLab, Kookmin University, South Korea","institution_ids":["https://openalex.org/I110273157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033709923","display_name":"Baek\u2010Kyu Cho","orcid":null},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Baek-Kyu Cho","raw_affiliation_strings":["Kookmin University,RcLab,South Korea","RcLab, Kookmin University, South Korea"],"affiliations":[{"raw_affiliation_string":"Kookmin University,RcLab,South Korea","institution_ids":["https://openalex.org/I110273157"]},{"raw_affiliation_string":"RcLab, Kookmin University, South Korea","institution_ids":["https://openalex.org/I110273157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5050894191"],"corresponding_institution_ids":["https://openalex.org/I110273157"],"apc_list":null,"apc_paid":null,"fwci":0.439,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.59242994,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9958999752998352,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9876000285148621,"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/torque","display_name":"Torque","score":0.8534517288208008},{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"Harmonic drive","score":0.7542093992233276},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6567829847335815},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.6415352821350098},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6175786256790161},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6161489486694336},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.463681161403656},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4616934061050415},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.4339873194694519},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4330994486808777},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38151320815086365},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.3118841052055359},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2744121253490448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08661970496177673},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07752341032028198},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0614277720451355},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05787906050682068},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.05373600125312805}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.8534517288208008},{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.7542093992233276},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6567829847335815},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.6415352821350098},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6175786256790161},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6161489486694336},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.463681161403656},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4616934061050415},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.4339873194694519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4330994486808777},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38151320815086365},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.3118841052055359},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2744121253490448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08661970496177673},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07752341032028198},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0614277720451355},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05787906050682068},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.05373600125312805},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids57100.2023.10375177","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids57100.2023.10375177","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1853143499","https://openalex.org/W1986621758","https://openalex.org/W1994275787","https://openalex.org/W2007049585","https://openalex.org/W2008808789","https://openalex.org/W2132089714","https://openalex.org/W2181918963","https://openalex.org/W2465284394","https://openalex.org/W2614308505","https://openalex.org/W2894318605","https://openalex.org/W2909331752","https://openalex.org/W2909692535","https://openalex.org/W2913971027","https://openalex.org/W2972798201","https://openalex.org/W2972810470","https://openalex.org/W2980792850","https://openalex.org/W2981381355","https://openalex.org/W3011337332","https://openalex.org/W3109186372","https://openalex.org/W3206363598","https://openalex.org/W4200187073","https://openalex.org/W4285102304","https://openalex.org/W4286423847","https://openalex.org/W4312869615","https://openalex.org/W4313563011","https://openalex.org/W4313598687","https://openalex.org/W4372311955","https://openalex.org/W4383109434","https://openalex.org/W6767349745"],"related_works":["https://openalex.org/W2373410575","https://openalex.org/W2107398868","https://openalex.org/W2328640053","https://openalex.org/W1567726301","https://openalex.org/W4321062773","https://openalex.org/W2158120472","https://openalex.org/W3014451371","https://openalex.org/W2616586521","https://openalex.org/W2292577134","https://openalex.org/W2038583104"],"abstract_inverted_index":{"Most":[0],"adult-sized":[1],"bipedal":[2,77],"and":[3,29,39,105,109,130,138,157],"humanoid":[4],"robots":[5,47,153],"primarily":[6],"use":[7,169],"high-reduction":[8,20,84,155],"gears":[9,21,56,85,156],"to":[10,49,54,115],"achieve":[11],"high":[12,26,118],"torque":[13,36,59,73,91,150,164,171],"output":[14],"of":[15,68,100,149,160,170],"their":[16],"joints.":[17],"However,":[18],"these":[19,51],"have":[22,145],"problems":[23,52],"such":[24],"as":[25,87],"joint":[27,72,119],"friction":[28,111],"low":[30],"backdrivability,":[31],"which":[32,80],"can":[33],"make":[34],"accurate":[35],"control":[37,103,107,151],"difficult":[38],"potentially":[40],"adversely":[41],"impact":[42],"system":[43],"stability.":[44],"Hence,":[45],"most":[46],"attempt":[48],"overcome":[50],"related":[53],"reduction":[55],"by":[57],"using":[58,154],"sensors.":[60,172],"In":[61],"this":[62],"study,":[63],"we":[64,144],"demonstrated":[65,146],"the":[66,76,147,158,168],"feasibility":[67,159],"torque-controlled":[69],"walking":[70,139,161],"without":[71,167],"sensors":[74],"with":[75,83],"robot":[78],"RoK-3,":[79],"is":[81,113],"equipped":[82],"known":[86],"Harmonic":[88],"Drive.":[89],"The":[90,121],"command":[92],"generation":[93],"adopts":[94],"an":[95],"integrated":[96],"approach":[97],"[1],":[98],"[2]":[99],"model":[101],"predictive":[102],"(MPC)":[104],"whole-body":[106],"(WBC),":[108],"a":[110,126,134],"compensator":[112],"introduced":[114],"compensate":[116],"for":[117,152],"friction.":[120],"experiments":[122],"include":[123],"balancing":[124],"on":[125,163],"moving":[127],"slope,":[128],"up":[129],"down":[131],"motions":[132],"during":[133],"single":[135],"foot":[136],"support,":[137],"in":[140],"place":[141],"scenarios.":[142],"Finally,":[143],"implementation":[148],"based":[162],"control,":[165],"even":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}