{"id":"https://openalex.org/W1978606303","doi":"https://doi.org/10.2478/s13230-011-0007-7","title":"Dynamics and Control of Humanoid Robots: A Geometrical Approach","display_name":"Dynamics and Control of Humanoid Robots: A Geometrical Approach","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W1978606303","doi":"https://doi.org/10.2478/s13230-011-0007-7","mag":"1978606303"},"language":"en","primary_location":{"id":"doi:10.2478/s13230-011-0007-7","is_oa":true,"landing_page_url":"https://doi.org/10.2478/s13230-011-0007-7","pdf_url":"https://www.degruyter.com/document/doi/10.2478/s13230-011-0007-7/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2080-9778","issn":["2080-9778","2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.degruyter.com/document/doi/10.2478/s13230-011-0007-7/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075678826","display_name":"Vladimir G. Ivancevic","orcid":"https://orcid.org/0000-0002-1106-7265"},"institutions":[{"id":"https://openalex.org/I1303474014","display_name":"Defence Science and Technology Group","ror":"https://ror.org/05ddrvt52","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1303474014","https://openalex.org/I2801453606","https://openalex.org/I3139952251"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Vladimir G. Ivancevic","raw_affiliation_strings":["Land Operation Division, Defence Science & Technology Organisation, Edinburgh SA 1500, Australia","Defence Science & Technology Organisation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Land Operation Division, Defence Science & Technology Organisation, Edinburgh SA 1500, Australia","institution_ids":["https://openalex.org/I1303474014"]},{"raw_affiliation_string":"Defence Science & Technology Organisation","institution_ids":["https://openalex.org/I1303474014"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008696196","display_name":"Tijana T. Ivancevic","orcid":"https://orcid.org/0000-0002-4263-6811"},"institutions":[{"id":"https://openalex.org/I1303474014","display_name":"Defence Science and Technology Group","ror":"https://ror.org/05ddrvt52","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1303474014","https://openalex.org/I2801453606","https://openalex.org/I3139952251"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tijana T. Ivancevic","raw_affiliation_strings":["QLIWW IP Pty Ltd. & Tesla Science Evolution Institute, Adelaide, Australia","Defence Science & Technology Organisation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"QLIWW IP Pty Ltd. & Tesla Science Evolution Institute, Adelaide, Australia","institution_ids":[]},{"raw_affiliation_string":"Defence Science & Technology Organisation","institution_ids":["https://openalex.org/I1303474014"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5075678826"],"corresponding_institution_ids":["https://openalex.org/I1303474014"],"apc_list":{"value":1000,"currency":"EUR","value_usd":1078},"apc_paid":{"value":1000,"currency":"EUR","value_usd":1078},"fwci":0.0,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.08132307,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13500","display_name":"Probability and Statistical Research","score":0.9728999733924866,"subfield":{"id":"https://openalex.org/subfields/2613","display_name":"Statistics and Probability"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13500","display_name":"Probability and Statistical Research","score":0.9728999733924866,"subfield":{"id":"https://openalex.org/subfields/2613","display_name":"Statistics and Probability"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13898","display_name":"Diverse Interdisciplinary Research Studies","score":0.9419999718666077,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T13811","display_name":"Earth Systems and Cosmic Evolution","score":0.9277999997138977,"subfield":{"id":"https://openalex.org/subfields/1902","display_name":"Atmospheric Science"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9059069156646729},{"id":"https://openalex.org/keywords/hamiltonian-mechanics","display_name":"Hamiltonian mechanics","score":0.5806376934051514},{"id":"https://openalex.org/keywords/phase-space","display_name":"Phase space","score":0.547329843044281},{"id":"https://openalex.org/keywords/hamiltonian","display_name":"Hamiltonian (control theory)","score":0.5213897824287415},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4819888472557068},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4770064651966095},{"id":"https://openalex.org/keywords/covariant-transformation","display_name":"Covariant transformation","score":0.4608139395713806},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4579036235809326},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.45386362075805664},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43725836277008057},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42692556977272034},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.4233500063419342},{"id":"https://openalex.org/keywords/geometric-mechanics","display_name":"Geometric mechanics","score":0.42223450541496277},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3721294403076172},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.30364125967025757},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28320297598838806},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20014360547065735},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1679862141609192},{"id":"https://openalex.org/keywords/analytical-mechanics","display_name":"Analytical mechanics","score":0.16543450951576233},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1359739899635315}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9059069156646729},{"id":"https://openalex.org/C136864674","wikidata":"https://www.wikidata.org/wiki/Q477921","display_name":"Hamiltonian mechanics","level":3,"score":0.5806376934051514},{"id":"https://openalex.org/C151342819","wikidata":"https://www.wikidata.org/wiki/Q62542","display_name":"Phase space","level":2,"score":0.547329843044281},{"id":"https://openalex.org/C130787639","wikidata":"https://www.wikidata.org/wiki/Q5645293","display_name":"Hamiltonian (control theory)","level":2,"score":0.5213897824287415},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4819888472557068},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4770064651966095},{"id":"https://openalex.org/C9136319","wikidata":"https://www.wikidata.org/wiki/Q362640","display_name":"Covariant transformation","level":2,"score":0.4608139395713806},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4579036235809326},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.45386362075805664},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43725836277008057},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42692556977272034},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.4233500063419342},{"id":"https://openalex.org/C206444204","wikidata":"https://www.wikidata.org/wiki/Q17086162","display_name":"Geometric mechanics","level":5,"score":0.42223450541496277},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3721294403076172},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.30364125967025757},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28320297598838806},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20014360547065735},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1679862141609192},{"id":"https://openalex.org/C206183056","wikidata":"https://www.wikidata.org/wiki/Q833065","display_name":"Analytical mechanics","level":4,"score":0.16543450951576233},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1359739899635315},{"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/C84114770","wikidata":"https://www.wikidata.org/wiki/Q46344","display_name":"Quantum","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/C15184713","wikidata":"https://www.wikidata.org/wiki/Q7269042","display_name":"Quantum dynamics","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.2478/s13230-011-0007-7","is_oa":true,"landing_page_url":"https://doi.org/10.2478/s13230-011-0007-7","pdf_url":"https://www.degruyter.com/document/doi/10.2478/s13230-011-0007-7/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2080-9778","issn":["2080-9778","2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:c3fed03c02c44c2ba8f608d899ee5c32","is_oa":true,"landing_page_url":"https://doaj.org/article/c3fed03c02c44c2ba8f608d899ee5c32","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Paladyn, Vol 1, Iss 4, Pp 204-218 (2010)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.2478/s13230-011-0007-7","is_oa":true,"landing_page_url":"https://doi.org/10.2478/s13230-011-0007-7","pdf_url":"https://www.degruyter.com/document/doi/10.2478/s13230-011-0007-7/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2080-9778","issn":["2080-9778","2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1978606303.pdf","grobid_xml":"https://content.openalex.org/works/W1978606303.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W136616458","https://openalex.org/W587443570","https://openalex.org/W605335417","https://openalex.org/W640260287","https://openalex.org/W1038800568","https://openalex.org/W1495727713","https://openalex.org/W1499219562","https://openalex.org/W1501162218","https://openalex.org/W1524590822","https://openalex.org/W1565140245","https://openalex.org/W1569017328","https://openalex.org/W1887006513","https://openalex.org/W1972298586","https://openalex.org/W1994246733","https://openalex.org/W2007053932","https://openalex.org/W2014741485","https://openalex.org/W2033730987","https://openalex.org/W2036258338","https://openalex.org/W2060941163","https://openalex.org/W2063402642","https://openalex.org/W2064566192","https://openalex.org/W2074830693","https://openalex.org/W2086061329","https://openalex.org/W2098956671","https://openalex.org/W2121068703","https://openalex.org/W2122136962","https://openalex.org/W2126479355","https://openalex.org/W2163410743","https://openalex.org/W2253207823","https://openalex.org/W3099926058","https://openalex.org/W3102457040","https://openalex.org/W3135593729","https://openalex.org/W4205727720","https://openalex.org/W4232211122","https://openalex.org/W4245453241"],"related_works":["https://openalex.org/W3123683340","https://openalex.org/W4299821608","https://openalex.org/W2950659262","https://openalex.org/W4386394411","https://openalex.org/W4386479989","https://openalex.org/W1557187315","https://openalex.org/W3013347551","https://openalex.org/W1899717397","https://openalex.org/W2360964914","https://openalex.org/W1978606303"],"abstract_inverted_index":{"Abstract":[0],"This":[1,12,85],"paper":[2,109],"reviews":[3],"modern":[4,100],"geometrical":[5,83],"dynamics":[6,46,53,66,90],"and":[7,15,47,88,91],"control":[8,48,79,92],"of":[9,23,31,99],"humanoid":[10,78],"robots.":[11],"general":[13,44],"Lagrangian":[14,52],"Hamiltonian":[16,65,105],"formalism":[17],"starts":[18],"with":[19,111],"a":[20,29],"proper":[21],"definition":[22],"humanoid's":[24,45],"configuration":[25],"manifold,":[26],"which":[27],"is":[28,54,67,93],"set":[30],"all":[32],"robot's":[33],"active":[34],"joint":[35],"angles.":[36],"Based":[37],"on":[38,56,69],"the":[39,43,57,70,97,104],"\u2018covariant":[40],"force":[41],"law\u2019,":[42],"are":[49],"developed.":[50],"Autonomous":[51],"formulated":[55,68],"associated":[58,71],"\u2018humanoid":[59,72],"velocity":[60],"phase":[61,74],"space\u2019,":[62],"while":[63],"autonomous":[64,89],"momentum":[73],"space\u2019.":[75],"Neural-like":[76],"hierarchical":[77],"naturally":[80],"follows":[81],"this":[82],"prescription.":[84],"purely":[86],"rotational":[87],"then":[94],"generalized":[95],"into":[96],"framework":[98],"non-autonomous":[101],"biomechanics,":[102],"defining":[103],"fitness":[106],"function.":[107],"The":[108],"concludes":[110],"several":[112],"simulation":[113],"examples.":[114]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}