{"id":"https://openalex.org/W2108265833","doi":"https://doi.org/10.1109/ichr.2010.5686274","title":"A control architecture with stabilizer for 3D stable dynamic walking of SHERPA biped robot on compliant ground","display_name":"A control architecture with stabilizer for 3D stable dynamic walking of SHERPA biped robot on compliant ground","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2108265833","doi":"https://doi.org/10.1109/ichr.2010.5686274","mag":"2108265833"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2010.5686274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00643523","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026408399","display_name":"Ahmed Chemori","orcid":"https://orcid.org/0000-0001-9739-9473"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"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":"A. Chemori","raw_affiliation_strings":["CNRS, LIRMM, Universite Montpellier 2, Montpellier, France","LIRMM, Univ., Montpellier 2 - CNRS, 161 rue Ada, 34392, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LIRMM, Universite Montpellier 2, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, Univ., Montpellier 2 - CNRS, 161 rue Ada, 34392, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026310205","display_name":"Sylvie Le Floch","orcid":"https://orcid.org/0000-0001-9330-5361"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"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":"S. Le Floch","raw_affiliation_strings":["CNRS, LIRMM, Universite Montpellier 2, Montpellier, France","LIRMM, Univ., Montpellier 2 - CNRS, 161 rue Ada, 34392, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LIRMM, Universite Montpellier 2, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, Univ., Montpellier 2 - CNRS, 161 rue Ada, 34392, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107840238","display_name":"S. Krut","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"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":"S. Krut","raw_affiliation_strings":["CNRS, LIRMM, Universite Montpellier 2, Montpellier, France","LIRMM, Univ., Montpellier 2 - CNRS, 161 rue Ada, 34392, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LIRMM, Universite Montpellier 2, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, Univ., Montpellier 2 - CNRS, 161 rue Ada, 34392, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020874160","display_name":"Etienne Dombre","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"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":"E. Dombre","raw_affiliation_strings":["CNRS, LIRMM, Universite Montpellier 2, Montpellier, France","LIRMM, Univ., Montpellier 2 - CNRS, 161 rue Ada, 34392, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LIRMM, Universite Montpellier 2, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, Univ., Montpellier 2 - CNRS, 161 rue Ada, 34392, France","institution_ids":["https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4036,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.80765222,"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":"480","last_page":"485"},"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":0.9940000176429749,"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":0.9745000004768372,"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/robustness","display_name":"Robustness (evolution)","score":0.6759607791900635},{"id":"https://openalex.org/keywords/stabilizer","display_name":"Stabilizer (aeronautics)","score":0.6717353463172913},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6387274265289307},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.582613468170166},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5531026721000671},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5357934832572937},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4942660331726074},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4890318810939789},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.417169451713562},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31624841690063477},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2614073157310486},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08646279573440552},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07776227593421936},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.060027897357940674}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6759607791900635},{"id":"https://openalex.org/C2777502316","wikidata":"https://www.wikidata.org/wiki/Q2712515","display_name":"Stabilizer (aeronautics)","level":2,"score":0.6717353463172913},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6387274265289307},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.582613468170166},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5531026721000671},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5357934832572937},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4942660331726074},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4890318810939789},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.417169451713562},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31624841690063477},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2614073157310486},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08646279573440552},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07776227593421936},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.060027897357940674},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ichr.2010.5686274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-00643523v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00643523","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":"Humanoids, Dec 2010, Nashville, TN, United States. pp.480-485","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-00643523v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00643523","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":"Humanoids, Dec 2010, Nashville, TN, United States. pp.480-485","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.550000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1922011966","https://openalex.org/W1947406625","https://openalex.org/W2110811984","https://openalex.org/W2113394636","https://openalex.org/W2125098583","https://openalex.org/W2127763473","https://openalex.org/W2135393140","https://openalex.org/W2136914764","https://openalex.org/W2142992961","https://openalex.org/W2146816983","https://openalex.org/W2149407815","https://openalex.org/W2150326638","https://openalex.org/W2152737511","https://openalex.org/W2155237905","https://openalex.org/W2155914874","https://openalex.org/W2161427949","https://openalex.org/W6640367224","https://openalex.org/W6640475546","https://openalex.org/W6676972351","https://openalex.org/W6678295908"],"related_works":["https://openalex.org/W2392919231","https://openalex.org/W2373888082","https://openalex.org/W2384382117","https://openalex.org/W2043828253","https://openalex.org/W4252630758","https://openalex.org/W2368845495","https://openalex.org/W2352943411","https://openalex.org/W2369119520","https://openalex.org/W2566068142","https://openalex.org/W2358365047"],"abstract_inverted_index":{"This":[0,19],"paper":[1],"deals":[2],"with":[3,15],"design":[4],"and":[5,39],"implementation":[6],"of":[7,36,47,53],"a":[8,22,26,40],"control":[9,49,56],"architecture":[10,20,57],"for":[11],"3D":[12],"dynamic":[13],"walking":[14],"foot/ground":[16],"compliant":[17],"contact.":[18],"includes":[21],"ZMP-based":[23],"pattern":[24],"generator,":[25],"computed":[27],"torque":[28],"controller":[29],"based":[30],"on":[31],"the":[32,37,44,48,54],"reduced":[33],"order":[34],"dynamics":[35],"system,":[38],"stabilizer":[41],"to":[42],"enhance":[43],"stability":[45],"robustness":[46],"architecture.":[50],"The":[51],"effectiveness":[52],"proposed":[55],"is":[58],"shown":[59],"through":[60],"numerical":[61],"simulations.":[62]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
