{"id":"https://openalex.org/W2049215078","doi":"https://doi.org/10.1142/s0219843612500338","title":"YAW MOMENT COMPENSATION FOR BIPEDAL ROBOTS VIA INTRINSIC ANGULAR MOMENTUM CONSTRAINT","display_name":"YAW MOMENT COMPENSATION FOR BIPEDAL ROBOTS VIA INTRINSIC ANGULAR MOMENTUM CONSTRAINT","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2049215078","doi":"https://doi.org/10.1142/s0219843612500338","mag":"2049215078"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843612500338","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843612500338","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid 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/A5080517829","display_name":"Barkan U\u011furlu","orcid":"https://orcid.org/0000-0002-9124-7441"},"institutions":[{"id":"https://openalex.org/I4840577","display_name":"Toyota Technological Institute","ror":"https://ror.org/001hv0k59","country_code":"JP","type":"education","lineage":["https://openalex.org/I4840577"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"BARKAN UGURLU","raw_affiliation_strings":["Department of Advanced Science and Technology, Toyota Technological Institute, 2-12-1 Hisakata,Tempaku, 468-8511 Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Science and Technology, Toyota Technological Institute, 2-12-1 Hisakata,Tempaku, 468-8511 Nagoya, Japan","institution_ids":["https://openalex.org/I4840577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030883123","display_name":"Jody A. Saglia","orcid":"https://orcid.org/0000-0001-9532-3440"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"JODY A. SAGLIA","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"NIKOS G. TSAGARAKIS","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"DARWIN G. CALDWELL","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5080517829"],"corresponding_institution_ids":["https://openalex.org/I4840577"],"apc_list":null,"apc_paid":null,"fwci":2.66182651,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.89051523,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"09","issue":"04","first_page":"1250033","last_page":"1250033"},"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":0.9980000257492065,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9855999946594238,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/moment-of-inertia","display_name":"Moment of inertia","score":0.7091166973114014},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.6966044902801514},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6571526527404785},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.5607481002807617},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5452024936676025},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5361478328704834},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.5245361924171448},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.49880218505859375},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.488710880279541},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4672743082046509},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.45799973607063293},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4217357933521271},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.33136141300201416},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.21607276797294617},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19838929176330566},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18002387881278992},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.16834506392478943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1645382046699524},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12514597177505493},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08380427956581116}],"concepts":[{"id":"https://openalex.org/C10238366","wikidata":"https://www.wikidata.org/wiki/Q165618","display_name":"Moment of inertia","level":2,"score":0.7091166973114014},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.6966044902801514},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6571526527404785},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.5607481002807617},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5452024936676025},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5361478328704834},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.5245361924171448},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.49880218505859375},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.488710880279541},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4672743082046509},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.45799973607063293},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4217357933521271},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.33136141300201416},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.21607276797294617},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19838929176330566},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18002387881278992},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.16834506392478943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1645382046699524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12514597177505493},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08380427956581116},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843612500338","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843612500338","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320325847","display_name":"Istituto Italiano di Tecnologia","ror":"https://ror.org/042t93s57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W639693478","https://openalex.org/W1564784558","https://openalex.org/W1581909396","https://openalex.org/W1917860510","https://openalex.org/W1972362900","https://openalex.org/W1992751964","https://openalex.org/W2029456407","https://openalex.org/W2037729465","https://openalex.org/W2051287096","https://openalex.org/W2076787343","https://openalex.org/W2087341820","https://openalex.org/W2098653591","https://openalex.org/W2101963590","https://openalex.org/W2102586215","https://openalex.org/W2112361218","https://openalex.org/W2119577431","https://openalex.org/W2122677186","https://openalex.org/W2125150855","https://openalex.org/W2130244441","https://openalex.org/W2141377539","https://openalex.org/W2143657342","https://openalex.org/W2149407815","https://openalex.org/W2152957885","https://openalex.org/W2156116355","https://openalex.org/W2156623166","https://openalex.org/W2157006106","https://openalex.org/W2163921174","https://openalex.org/W2168936093","https://openalex.org/W2218805454","https://openalex.org/W2432517183"],"related_works":["https://openalex.org/W2955391604","https://openalex.org/W2072326574","https://openalex.org/W2369281807","https://openalex.org/W2002167024","https://openalex.org/W2379057576","https://openalex.org/W2076414804","https://openalex.org/W3013617078","https://openalex.org/W2023930187","https://openalex.org/W2904734435","https://openalex.org/W2370555329"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,14,29,38,81],"aimed":[3],"at":[4],"describing":[5],"a":[6,26,45,49,89],"technique":[7],"to":[8,39,47,54,64,154],"compensate":[9],"undesired":[10,60,134],"yaw":[11,67,107,135],"moment,":[12],"which":[13,57,143],"inevitably":[15],"induced":[16],"about":[17],"the":[18,41,55,59,66,72,85,111,121,127,146,149],"support":[19,23],"foot":[20],"during":[21],"single":[22],"phases":[24],"while":[25],"bipedal":[27,117,123],"robot":[28,124],"in":[30,35,44,106,133,140,152],"motion.":[31],"The":[32],"main":[33],"strategy":[34],"this":[36],"method":[37],"rotate":[40],"upper":[42],"body":[43],"way":[46],"exert":[48],"secondary":[50],"moment":[51,68,108,136],"that":[52],"counteracts":[53],"factors":[56],"create":[58],"moment.":[61],"In":[62,95],"order":[63],"compute":[65],"by":[69],"considering":[70],"all":[71],"factors,":[73],"we":[74,114,129],"utilized":[75],"Eulerian":[76],"ZMP":[77],"Resolution,":[78],"as":[79],"it":[80],"capable":[82],"of":[83,92,148],"characterizing":[84],"robot's":[86],"rotational":[87],"inertia,":[88],"crucial":[90],"component":[91],"its":[93],"dynamics.":[94],"doing":[96],"so,":[97],"intrinsic":[98],"angular":[99],"momentum":[100],"rate":[101],"changes":[102],"are":[103],"smoothly":[104],"included":[105],"equations.":[109],"Applying":[110],"proposed":[112,150],"technique,":[113],"conducted":[115],"several":[116],"walking":[118],"experiments":[119],"using":[120],"actual":[122],"CoMan.":[125],"As":[126],"result,":[128],"obtained":[130],"61%":[131],"decrease":[132],"and":[137],"82%":[138],"regulation":[139],"yaw-axis":[141],"deviation,":[142],"satisfactorily":[144],"verify":[145],"efficiency":[147],"approach,":[151],"comparison":[153],"off-the-shelf":[155],"techniques.":[156]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}