{"id":"https://openalex.org/W2288470931","doi":"https://doi.org/10.1109/robio.2015.7418993","title":"Model-free human-like humanoid push recovery","display_name":"Model-free human-like humanoid push recovery","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2288470931","doi":"https://doi.org/10.1109/robio.2015.7418993","mag":"2288470931"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418993","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5002792850","display_name":"Noel Maalouf","orcid":"https://orcid.org/0000-0001-7536-4261"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":true,"raw_author_name":"Noel Maalouf","raw_affiliation_strings":["American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061146388","display_name":"Imad H. Elhajj","orcid":"https://orcid.org/0000-0002-6461-4699"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Imad H. Elhajj","raw_affiliation_strings":["Department of Electrical and Computer Engineering, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086667285","display_name":"Daniel Asmar","orcid":"https://orcid.org/0000-0002-4932-9777"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Daniel Asmar","raw_affiliation_strings":["Mechanical Engineering, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049264238","display_name":"Elie Shammas","orcid":"https://orcid.org/0000-0002-3604-334X"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Elie Shammas","raw_affiliation_strings":["Mechanical Engineering, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5002792850"],"corresponding_institution_ids":["https://openalex.org/I98635879"],"apc_list":null,"apc_paid":null,"fwci":0.5311,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.68344441,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1560","last_page":"1565"},"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9915000200271606,"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/humanoid-robot","display_name":"Humanoid robot","score":0.935390055179596},{"id":"https://openalex.org/keywords/proprioception","display_name":"Proprioception","score":0.6603334546089172},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5777745842933655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5765724778175354},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5394275188446045},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5281484127044678},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.49678972363471985},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.43869972229003906},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4264533817768097},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39598697423934937},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3340446352958679},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31150007247924805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25251632928848267},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2456013262271881},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.23760861158370972},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12255668640136719},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08232349157333374}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.935390055179596},{"id":"https://openalex.org/C171790689","wikidata":"https://www.wikidata.org/wiki/Q1129066","display_name":"Proprioception","level":2,"score":0.6603334546089172},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5777745842933655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5765724778175354},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5394275188446045},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5281484127044678},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.49678972363471985},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.43869972229003906},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4264533817768097},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39598697423934937},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3340446352958679},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31150007247924805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25251632928848267},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2456013262271881},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.23760861158370972},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12255668640136719},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08232349157333374},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7418993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418993","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1991678149","https://openalex.org/W2032854539","https://openalex.org/W2037729465","https://openalex.org/W2040880946","https://openalex.org/W2044951073","https://openalex.org/W2073094510","https://openalex.org/W2074778347","https://openalex.org/W2108138450","https://openalex.org/W2109218006","https://openalex.org/W2110135923","https://openalex.org/W2117778675","https://openalex.org/W2151621026","https://openalex.org/W2156078064","https://openalex.org/W2539915646","https://openalex.org/W2545165891","https://openalex.org/W6669679744"],"related_works":["https://openalex.org/W193314751","https://openalex.org/W4253813669","https://openalex.org/W2014373404","https://openalex.org/W2745063183","https://openalex.org/W2170999399","https://openalex.org/W1993537357","https://openalex.org/W2070557364","https://openalex.org/W2059739679","https://openalex.org/W3206219252","https://openalex.org/W2342136643"],"abstract_inverted_index":{"In":[0,26],"this":[1],"paper":[2],"we":[3],"present":[4],"a":[5,35,53],"model-free":[6],"system":[7,91,109],"for":[8,22],"humanoid":[9,36,70,99],"push":[10,103],"recovery.":[11],"The":[12,90,108],"concept":[13],"is":[14,50,92,110],"inspired":[15],"by":[16,84],"human":[17],"proprioceptory":[18],"sensory":[19],"input":[20],"used":[21,38,83],"detecting":[23],"balance":[24],"disturbances.":[25],"our":[27],"implementation,":[28],"the":[29,41,58,69,73,79,95,114],"foot":[30],"pressure":[31],"sensors":[32],"found":[33],"on":[34,94,113],"are":[37],"to":[39,52,62,67],"detect":[40],"degree":[42],"of":[43],"sway":[44],"in":[45,65,72,100,105],"any":[46],"direction.":[47],"This":[48,76],"difference":[49],"fed":[51],"PID":[54],"controller":[55],"which":[56,86],"sets":[57],"proper":[59],"ankle":[60],"torque":[61],"be":[63],"applied":[64],"order":[66],"keep":[68],"standing":[71],"upright":[74],"position.":[75],"approach":[77],"imitates":[78],"proprioceptive":[80],"sensor":[81],"information":[82],"humans":[85],"dominates":[87],"posture":[88],"assessment.":[89],"implemented":[93],"NAO":[96],"H25":[97],"V3.3":[98],"Webots":[101],"against":[102],"disturbances":[104],"various":[106],"directions.":[107],"also":[111],"tested":[112],"actual":[115],"Nao":[116],"humanoid.":[117]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
