{"id":"https://openalex.org/W2294675992","doi":"https://doi.org/10.1145/2822013.2822020","title":"Robust balance shift control with posture optimization","display_name":"Robust balance shift control with posture optimization","publication_year":2015,"publication_date":"2015-11-03","ids":{"openalex":"https://openalex.org/W2294675992","doi":"https://doi.org/10.1145/2822013.2822020","mag":"2294675992"},"language":"en","primary_location":{"id":"doi:10.1145/2822013.2822020","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2822013.2822020","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 8th ACM SIGGRAPH Conference on Motion in Games","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/A5018985408","display_name":"Z\u00fcmra Kavafo\u01e7lu","orcid":"https://orcid.org/0000-0002-4158-4386"},"institutions":[{"id":"https://openalex.org/I66514158","display_name":"Hacettepe University","ror":"https://ror.org/04kwvgz42","country_code":"TR","type":"education","lineage":["https://openalex.org/I66514158"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Zumra Kavafoglu","raw_affiliation_strings":["Hacettepe University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hacettepe University","institution_ids":["https://openalex.org/I66514158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018151647","display_name":"Ersan Kavafo\u011flu","orcid":null},"institutions":[{"id":"https://openalex.org/I66514158","display_name":"Hacettepe University","ror":"https://ror.org/04kwvgz42","country_code":"TR","type":"education","lineage":["https://openalex.org/I66514158"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Ersan Kavafoglu","raw_affiliation_strings":["Hacettepe University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hacettepe University","institution_ids":["https://openalex.org/I66514158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061142343","display_name":"Arjan Egges","orcid":null},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Arjan Egges","raw_affiliation_strings":["Utrecht University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Utrecht University","institution_ids":["https://openalex.org/I193662353"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018985408"],"corresponding_institution_ids":["https://openalex.org/I66514158"],"apc_list":null,"apc_paid":null,"fwci":0.6816,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.76271387,"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":"183","last_page":"192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11439","display_name":"Video Analysis and Summarization","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6114898324012756},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6059085726737976},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5773487687110901},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5423899292945862},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.47385910153388977},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4439792037010193},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4295165538787842},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2769410312175751},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18292447924613953},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14004909992218018}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6114898324012756},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6059085726737976},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5773487687110901},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5423899292945862},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.47385910153388977},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4439792037010193},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4295165538787842},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2769410312175751},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18292447924613953},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14004909992218018},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/2822013.2822020","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2822013.2822020","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 8th ACM SIGGRAPH Conference on Motion in Games","raw_type":"proceedings-article"},{"id":"pmh:uu:oai:dspace.library.uu.nl:1874/330422","is_oa":false,"landing_page_url":"https://dspace.library.uu.nl/handle/1874/330422","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Motion in Games, 183","raw_type":"info:eu-repo/semantics/contributiontoperiodical"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3543937345","display_name":null,"funder_award_id":"2214A","funder_id":"https://openalex.org/F4320322626","funder_display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu"}],"funders":[{"id":"https://openalex.org/F4320322626","display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu","ror":"https://ror.org/04w9kkr77"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1497590695","https://openalex.org/W1518579992","https://openalex.org/W1608832114","https://openalex.org/W1929008949","https://openalex.org/W1964965610","https://openalex.org/W1966784014","https://openalex.org/W1973998728","https://openalex.org/W1974420726","https://openalex.org/W1983098320","https://openalex.org/W1990922788","https://openalex.org/W1990932462","https://openalex.org/W2001165022","https://openalex.org/W2014191197","https://openalex.org/W2018571963","https://openalex.org/W2019213041","https://openalex.org/W2047842611","https://openalex.org/W2048418401","https://openalex.org/W2051567001","https://openalex.org/W2063149203","https://openalex.org/W2072118986","https://openalex.org/W2073531546","https://openalex.org/W2075793174","https://openalex.org/W2079533635","https://openalex.org/W2089059393","https://openalex.org/W2115887468","https://openalex.org/W2120894402","https://openalex.org/W2122179812","https://openalex.org/W2149606028","https://openalex.org/W2150388681","https://openalex.org/W2151817313","https://openalex.org/W2164288353","https://openalex.org/W2247191580","https://openalex.org/W2293545866","https://openalex.org/W2412905545","https://openalex.org/W2911500570","https://openalex.org/W3142707146","https://openalex.org/W4205985701","https://openalex.org/W4234688238","https://openalex.org/W4246555273","https://openalex.org/W4249218874","https://openalex.org/W4299527894"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,105],"present":[4],"a":[5,35,73,153,166],"control":[6,48,118],"framework":[7,49,138],"which":[8],"creates":[9],"robust":[10],"and":[11,31,66,98],"natural":[12],"balance":[13,65],"shifting":[14],"behaviours":[15],"during":[16],"standing.":[17],"Given":[18],"high-level":[19],"features":[20,40],"such":[21,177],"as":[22,178],"the":[23,26,32,51,60,79,82,86,107,110,122,129],"position":[24,80,101],"of":[25,28,50,78,81,109,128,142],"center":[27],"mass":[29],"projection":[30,84],"foot":[33,87],"configurations,":[34],"kinematic":[36],"posture":[37,62],"satisfying":[38],"these":[39],"is":[41,91,170],"synthesized":[42],"using":[43,93],"online":[44,95],"optimization.":[45,164],"The":[46,126,136,147],"physics-based":[47],"system":[52,70,130,169],"calculates":[53],"internal":[54],"joint":[55,100],"torques":[56],"that":[57,120],"enable":[58],"tracking":[59],"optimized":[61],"together":[63],"with":[64],"pelvis":[67],"control.":[68],"Our":[69],"results":[71],"in":[72,150],"very":[74],"stable":[75],"pose":[76],"regardless":[77],"COM":[83],"within":[85],"support":[88],"polygon.":[89],"This":[90],"achieved":[92],"an":[94,116],"knee":[96],"bending":[97],"hip":[99],"optimization":[102],"scheme.":[103],"Moreover,":[104],"improve":[106],"robustness":[108],"character":[111],"under":[112,133],"external":[113],"perturbations":[114],"by":[115],"arm":[117],"strategy":[119],"regulates":[121],"body's":[123],"angular":[124],"momentum.":[125],"capabilities":[127],"are":[131],"demonstrated":[132],"different":[134],"scenarios.":[135],"proposed":[137],"doesn't":[139],"include":[140],"equations":[141],"motions":[143],"or":[144],"inverse":[145],"dynamics.":[146],"simulations":[148],"run":[149],"real-time":[151,174],"on":[152],"standard":[154],"modern":[155],"PC":[156],"without":[157],"needing":[158],"any":[159],"preprocessing":[160],"like":[161],"offline":[162],"parameter":[163],"As":[165],"result,":[167],"our":[168],"suitable":[171],"for":[172],"commercial":[173],"graphics":[175],"applications":[176],"games.":[179]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-05-16T08:24:45.110214","created_date":"2025-10-10T00:00:00"}