{"id":"https://openalex.org/W2102651715","doi":"https://doi.org/10.1142/s0219843613500278","title":"OPTIMIZING FOOT CENTERS OF PRESSURE THROUGH FORCE DISTRIBUTION IN A HUMANOID ROBOT","display_name":"OPTIMIZING FOOT CENTERS OF PRESSURE THROUGH FORCE DISTRIBUTION IN A HUMANOID ROBOT","publication_year":2013,"publication_date":"2013-08-07","ids":{"openalex":"https://openalex.org/W2102651715","doi":"https://doi.org/10.1142/s0219843613500278","mag":"2102651715"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843613500278","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843613500278","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/A5029126529","display_name":"Patrick M. Wensing","orcid":"https://orcid.org/0000-0002-9041-5175"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"PATRICK M. WENSING","raw_affiliation_strings":["Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH 43210, USA","[Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH 43210, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH 43210, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"[Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH 43210, USA]","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053864165","display_name":"Ghassan Bin Hammam","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"GHASSAN BIN HAMMAM","raw_affiliation_strings":["Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH 43210, USA","[Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH 43210, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH 43210, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"[Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH 43210, USA]","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031340269","display_name":"Behzad Dariush","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"BEHZAD DARIUSH","raw_affiliation_strings":["Honda Research Institute USA, Mountain View, CA 94043, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, Mountain View, CA 94043, USA","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057364155","display_name":"David E. Orin","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"DAVID E. ORIN","raw_affiliation_strings":["Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH 43210, USA","[Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH 43210, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH 43210, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"[Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH 43210, USA]","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0081,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.86008109,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"10","issue":"03","first_page":"1350027","last_page":"1350027"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9922000169754028,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7871506214141846},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7726377248764038},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.6253159046173096},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6144023537635803},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.507843554019928},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.4997284412384033},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48016849160194397},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4566049873828888},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.44314995408058167},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4191059470176697},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4133182764053345},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.41277632117271423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3868378698825836},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3656650483608246},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3411862254142761},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1788320243358612},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12684929370880127},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09868839383125305}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7871506214141846},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7726377248764038},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.6253159046173096},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6144023537635803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.507843554019928},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.4997284412384033},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48016849160194397},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4566049873828888},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.44314995408058167},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4191059470176697},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4133182764053345},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.41277632117271423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3868378698825836},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3656650483608246},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3411862254142761},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1788320243358612},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12684929370880127},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09868839383125305},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843613500278","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843613500278","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":[{"id":"https://metadata.un.org/sdg/16","score":0.6800000071525574,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320308716","display_name":"Ohio Space Grant Consortium","ror":"https://ror.org/04y65f081"},{"id":"https://openalex.org/F4320309374","display_name":"Ohio State University","ror":"https://ror.org/00rs6vg23"},{"id":"https://openalex.org/F4320318799","display_name":"Honda Research Institute, USA","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W562107606","https://openalex.org/W1525008876","https://openalex.org/W1560270123","https://openalex.org/W1989016128","https://openalex.org/W2012424743","https://openalex.org/W2041886889","https://openalex.org/W2062940189","https://openalex.org/W2077528546","https://openalex.org/W2078038590","https://openalex.org/W2080421646","https://openalex.org/W2104479525","https://openalex.org/W2108816955","https://openalex.org/W2109153754","https://openalex.org/W2110612452","https://openalex.org/W2115659120","https://openalex.org/W2117425572","https://openalex.org/W2123898591","https://openalex.org/W2125112876","https://openalex.org/W2125150855","https://openalex.org/W2128848325","https://openalex.org/W2129734754","https://openalex.org/W2131232094","https://openalex.org/W2133859362","https://openalex.org/W2145788561","https://openalex.org/W2150317946","https://openalex.org/W2154631808","https://openalex.org/W2296319761","https://openalex.org/W2981351463","https://openalex.org/W4232840210","https://openalex.org/W4250589301","https://openalex.org/W4254086355"],"related_works":["https://openalex.org/W2067759762","https://openalex.org/W4205162136","https://openalex.org/W2059529748","https://openalex.org/W813487984","https://openalex.org/W2501112123","https://openalex.org/W4313562911","https://openalex.org/W1973195195","https://openalex.org/W4225006828","https://openalex.org/W2177600158","https://openalex.org/W2046636826"],"abstract_inverted_index":{"The":[0],"force":[1],"distribution":[2],"problem":[3,30],"(FDP)":[4],"in":[5,27,80],"robotics":[6],"requires":[7],"the":[8,22,35,63,76,93,99,107,122,164,177,201],"determination":[9],"of":[10,42,75,95,101,163,172],"multiple":[11],"contact":[12,19,55,113],"forces":[13,56,114],"to":[14,37,91,111],"match":[15],"a":[16,88,104,128,138,145,158,173,188],"desired":[17,39],"net":[18],"wrench.":[20],"For":[21],"double":[23,81],"support":[24],"case":[25],"encountered":[26],"humanoids,":[28],"this":[29,69],"is":[31,109,192],"underspecified,":[32],"and":[33,45,54,83,133,156],"provides":[34,166],"opportunity":[36],"optimize":[38,58,112],"foot":[40,66,196,202],"centers":[41],"pressure":[43],"(CoPs)":[44],"forces.":[46],"In":[47,68],"different":[48],"contexts,":[49],"we":[50,71],"may":[51],"seek":[52],"CoPs":[53,183],"that":[57,199],"actuator":[59],"effort":[60],"or":[61],"decrease":[62],"tendency":[64],"for":[65,78,98,115,121,144],"roll.":[67],"work,":[70],"present":[72],"two":[73],"formulations":[74,123],"FDP":[77,165],"humanoids":[79],"support,":[82],"propose":[84],"objective":[85,190],"functions":[86],"within":[87],"general":[89],"framework":[90,108],"address":[92],"variety":[94],"competing":[96],"requirements":[97],"realization":[100],"balance.":[102],"As":[103],"key":[105],"feature,":[106],"capable":[110],"motions":[116],"on":[117,137,153,157],"uneven":[118],"terrain.":[119],"Solutions":[120],"developed":[124,193],"are":[125,142],"obtained":[126],"with":[127,169],"commercial":[129],"nonlinear":[130],"optimization":[131,186],"package":[132],"through":[134],"analytical":[135],"approaches":[136],"simplified":[139],"problem.":[140],"Results":[141],"shown":[143],"highly":[146],"dynamic":[147],"whole-body":[148],"humanoid":[149],"reaching":[150],"motion":[151],"performed":[152],"even":[154],"terrain":[155],"ramp.":[159],"A":[160],"convex":[161,178],"formulation":[162,179],"real-time":[167],"solutions":[168,198],"computation":[170],"times":[171],"few":[174],"milliseconds.":[175],"While":[176],"does":[180],"not":[181],"include":[182],"explicitly":[184],"as":[185],"variables,":[187],"novel":[189],"function":[191],"which":[194],"penalizes":[195],"CoP":[197],"approach":[200],"boundaries.":[203]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
