{"id":"https://openalex.org/W3209495689","doi":"https://doi.org/10.1142/s021984362150016x","title":"A New Hybrid Kinematic/Dynamic Whole-Body Control for Humanoid Robots with Real-Time Experiments","display_name":"A New Hybrid Kinematic/Dynamic Whole-Body Control for Humanoid Robots with Real-Time Experiments","publication_year":2021,"publication_date":"2021-10-01","ids":{"openalex":"https://openalex.org/W3209495689","doi":"https://doi.org/10.1142/s021984362150016x","mag":"3209495689"},"language":"en","primary_location":{"id":"doi:10.1142/s021984362150016x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984362150016x","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":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-03470787","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090059952","display_name":"David Galdeano","orcid":"https://orcid.org/0000-0002-5295-4231"},"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":"D. Galdeano","raw_affiliation_strings":["LIRMM, Univ Montpellier, CNRS, Montpellier, France","CNRS, Montpellier, FRANCE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, Univ Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"CNRS, Montpellier, FRANCE","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","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":true,"raw_author_name":"A. Chemori","raw_affiliation_strings":["LIRMM, Univ Montpellier, CNRS, Montpellier, France","CNRS, Montpellier, FRANCE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, Univ Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"CNRS, Montpellier, FRANCE","institution_ids":["https://openalex.org/I19894307","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":["LIRMM, Univ Montpellier, CNRS, Montpellier, France","CNRS, Montpellier, FRANCE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, Univ Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"CNRS, Montpellier, FRANCE","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"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":"P. Fraisse","raw_affiliation_strings":["LIRMM, Univ Montpellier, CNRS, Montpellier, France","CNRS, Montpellier, FRANCE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, Univ Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"CNRS, Montpellier, FRANCE","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5026408399"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"],"apc_list":null,"apc_paid":null,"fwci":0.1697,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.4632169,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"18","issue":"05","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9797000288963318,"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":0.9797000288963318,"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":0.9455000162124634,"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":0.8001601696014404},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7559034824371338},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7306287884712219},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7033767700195312},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.6924973726272583},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5986776947975159},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48386919498443604},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4491099715232849},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4475117027759552},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27513962984085083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2249164879322052},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13487625122070312}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8001601696014404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7559034824371338},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7306287884712219},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7033767700195312},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.6924973726272583},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5986776947975159},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48386919498443604},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4491099715232849},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4475117027759552},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27513962984085083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2249164879322052},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13487625122070312},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1142/s021984362150016x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984362150016x","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"},{"id":"pmh:oai:HAL:lirmm-03470787v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-03470787","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":"International Journal of Humanoid Robotics, 2021, 18 (5), pp.#2150016. ⟨10.1142/S021984362150016X⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-03470787v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-03470787","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":"International Journal of Humanoid Robotics, 2021, 18 (5), pp.#2150016. ⟨10.1142/S021984362150016X⟩","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4294879706","display_name":null,"funder_award_id":"ANR-09-SEGI-011","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1492456213","https://openalex.org/W1494129624","https://openalex.org/W1661970104","https://openalex.org/W1978880990","https://openalex.org/W1979030003","https://openalex.org/W1987580649","https://openalex.org/W1997014929","https://openalex.org/W2018675870","https://openalex.org/W2037739750","https://openalex.org/W2042803738","https://openalex.org/W2049617391","https://openalex.org/W2072763216","https://openalex.org/W2089614430","https://openalex.org/W2097323016","https://openalex.org/W2099024169","https://openalex.org/W2102496525","https://openalex.org/W2106880431","https://openalex.org/W2108265833","https://openalex.org/W2133859362","https://openalex.org/W2135929901","https://openalex.org/W2138136244","https://openalex.org/W2138510638","https://openalex.org/W2144812930","https://openalex.org/W2153577013","https://openalex.org/W2163503851","https://openalex.org/W2171673750","https://openalex.org/W2204590021","https://openalex.org/W2318369481","https://openalex.org/W2617735081","https://openalex.org/W2783239407","https://openalex.org/W2994695572","https://openalex.org/W3003965754"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2130383927","https://openalex.org/W2133801610","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2120357486","https://openalex.org/W4236591128","https://openalex.org/W2034988786","https://openalex.org/W2220923292","https://openalex.org/W2163503851"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,88,92],"new":[4],"hybrid":[5],"kinematic/dynamic":[6],"control":[7,96,124],"scheme":[8,74,125],"for":[9],"humanoid":[10,137],"robots":[11],"is":[12,69,85,103],"proposed.":[13],"Its":[14],"basic":[15],"idea":[16],"lies":[17],"in":[18,24,71],"the":[19,34,38,42,45,50,55,61,72,77,99,122,135],"tracking":[20],"of":[21,37,44,47,58,60,79,91,121],"several":[22],"values":[23,31],"both":[25],"operational":[26],"and":[27,53,119],"joint":[28],"spaces.":[29],"These":[30],"include":[32],"(i)":[33],"relative":[35],"pose":[36],"robot\u2019s":[39],"feet,":[40],"(ii)":[41],"position":[43],"center":[46],"mass,":[48],"(iii)":[49],"body\u2019s":[51],"orientation,":[52],"(iv)":[54],"admissible":[56],"range":[57],"variation":[59],"joints.":[62],"A":[63],"zero-moment":[64],"point":[65],"(ZMP)-based":[66],"dynamic":[67,80],"feedback":[68],"included":[70],"proposed":[73,83,100,123],"to":[75,110],"improve":[76],"stability":[78],"motions.":[81,116],"The":[82,117],"stabilizer":[84],"based":[86],"on":[87,134],"spherical":[89],"projection":[90],"nonlinear":[93],"PID":[94],"regulation":[95],"law.":[97],"Through":[98],"study,":[101],"it":[102],"shown":[104],"that":[105],"these":[106],"objectives":[107],"allow":[108],"us":[109],"produce":[111],"smooth":[112],"dynamically":[113],"stable":[114],"whole-body":[115],"effectiveness":[118],"robustness":[120],"are":[126],"demonstrated":[127],"through":[128],"four":[129],"real-time":[130],"experimental":[131],"scenarios":[132],"conducted":[133],"HOAP-3":[136],"robot.":[138]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}