{"id":"https://openalex.org/W4387670212","doi":"https://doi.org/10.3389/frobt.2023.1164660","title":"Control and evaluation of a humanoid robot with rolling contact joints on its lower body","display_name":"Control and evaluation of a humanoid robot with rolling contact joints on its lower body","publication_year":2023,"publication_date":"2023-10-16","ids":{"openalex":"https://openalex.org/W4387670212","doi":"https://doi.org/10.3389/frobt.2023.1164660","pmid":"https://pubmed.ncbi.nlm.nih.gov/37908754"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2023.1164660","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3389/frobt.2023.1164660","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"http://dx.doi.org/10.3389/frobt.2023.1164660","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080531954","display_name":"Seung Hyeon Bang","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Seung Hyeon Bang","raw_affiliation_strings":["Department of Aerospace Engineering, University of Texas at Austin, Austin, TX, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103575041","display_name":"Carlos Gonz\u00e1lez","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlos Gonzalez","raw_affiliation_strings":["Department of Aerospace Engineering, University of Texas at Austin, Austin, TX, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050714612","display_name":"Junhyeok Ahn","orcid":"https://orcid.org/0000-0002-7934-6543"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junhyeok Ahn","raw_affiliation_strings":["Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020957357","display_name":"Nicholas Paine","orcid":"https://orcid.org/0000-0001-7238-7206"},"institutions":[{"id":"https://openalex.org/I4210127010","display_name":"Apptronik (United States)","ror":"https://ror.org/03rzjkf65","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127010"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Paine","raw_affiliation_strings":["Apptronik, Inc., Austin, TX, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Apptronik, Inc., Austin, TX, United States","institution_ids":["https://openalex.org/I4210127010"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I4210127010","display_name":"Apptronik (United States)","ror":"https://ror.org/03rzjkf65","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127010"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["Apptronik, Inc., Austin, TX, United States","Department of Aerospace Engineering, University of Texas at Austin, Austin, TX, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Apptronik, Inc., Austin, TX, United States","institution_ids":["https://openalex.org/I4210127010"]},{"raw_affiliation_string":"Department of Aerospace Engineering, University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5080531954"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":{"value":2125,"currency":"USD","value_usd":2125},"apc_paid":{"value":2125,"currency":"USD","value_usd":2125},"fwci":0.647,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.61220281,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"10","issue":null,"first_page":"1164660","last_page":"1164660"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987999796867371,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9699000120162964,"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/computer-science","display_name":"Computer science","score":0.7798155546188354},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7052679061889648},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6401234865188599},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5872817039489746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5202909111976624},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5093411207199097},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4941845238208771},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.46050187945365906},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.4163810610771179},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3926006257534027},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36816495656967163},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3417178690433502},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10813853144645691}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7798155546188354},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7052679061889648},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6401234865188599},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5872817039489746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5202909111976624},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5093411207199097},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4941845238208771},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.46050187945365906},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.4163810610771179},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3926006257534027},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36816495656967163},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3417178690433502},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10813853144645691},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2023.1164660","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3389/frobt.2023.1164660","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:37908754","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37908754","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10613887","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10613887","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10613887/pdf/frobt-10-1164660.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:d67661d60eac4ff8b4c43cc0cef324f3","is_oa":true,"landing_page_url":"https://doaj.org/article/d67661d60eac4ff8b4c43cc0cef324f3","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":"Frontiers in Robotics and AI, Vol 10 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2023.1164660","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3389/frobt.2023.1164660","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G682051765","display_name":null,"funder_award_id":"N000142212204","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1486120613","https://openalex.org/W1525662195","https://openalex.org/W1853143499","https://openalex.org/W1945123189","https://openalex.org/W1971252075","https://openalex.org/W1980065440","https://openalex.org/W2002122269","https://openalex.org/W2005099894","https://openalex.org/W2074042377","https://openalex.org/W2130280438","https://openalex.org/W2131232094","https://openalex.org/W2143729862","https://openalex.org/W2146434325","https://openalex.org/W2148519839","https://openalex.org/W2335044248","https://openalex.org/W2569881884","https://openalex.org/W2573227850","https://openalex.org/W2886880902","https://openalex.org/W2890302476","https://openalex.org/W2907045164","https://openalex.org/W2914653242","https://openalex.org/W2951112635","https://openalex.org/W2967793392","https://openalex.org/W3000625188","https://openalex.org/W3033353027","https://openalex.org/W3035707643","https://openalex.org/W3119702752","https://openalex.org/W3148946639","https://openalex.org/W3168208232","https://openalex.org/W3193914824","https://openalex.org/W3207671673","https://openalex.org/W4205384907","https://openalex.org/W4206324146","https://openalex.org/W4207008691","https://openalex.org/W4221164057","https://openalex.org/W4285102304","https://openalex.org/W4285102377","https://openalex.org/W4313563143","https://openalex.org/W6631215776","https://openalex.org/W6643093631","https://openalex.org/W6651731491","https://openalex.org/W6754809075","https://openalex.org/W6782900827","https://openalex.org/W6802923730","https://openalex.org/W6805451808","https://openalex.org/W6838888669","https://openalex.org/W6839512110","https://openalex.org/W6848099663"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W4317937281"],"abstract_inverted_index":{"In":[0,83,136],"this":[1,64],"paper,":[2],"we":[3,120,181],"introduce":[4,121],"a":[5,74,95,122,158],"new":[6],"teen-sized":[7],"humanoid":[8],"platform":[9],"dubbed":[10],"DRACO":[11,38,108,143,162],"3,":[12,163],"custom-built":[13],"by":[14,21,188],"Apptronik":[15],"and":[16,69,80,186,197],"altered":[17],"for":[18,142,153],"practical":[19,151],"use":[20],"the":[22,58,89,132,170,173],"Human":[23],"Centered":[24],"Robotics":[25],"Laboratory":[26],"at":[27,32,53],"The":[28,34],"University":[29],"of":[30,37,60,62,77,139,161,172,191],"Texas":[31],"Austin.":[33],"form":[35],"factor":[36],"3":[39,109,144],"is":[40],"such":[41],"that":[42],"it":[43],"can":[44],"operate":[45],"safely":[46],"in":[47],"human":[48,54],"environments":[49],"while":[50,114],"reaching":[51],"objects":[52],"heights.":[55],"To":[56,106],"approximate":[57],"range":[59,76],"motion":[61,134],"humans,":[63],"robot":[65],"features":[66],"proximal":[67,96],"actuation":[68,97],"mechanical":[70],"artifacts":[71],"to":[72,99,110,130],"provide":[73,100],"high":[75],"hip,":[78],"knee,":[79],"ankle":[81],"motions.":[82],"particular,":[84],"rolling":[85,133],"contact":[86],"mechanisms":[87],"on":[88,150],"lower":[90],"body":[91],"are":[92,145],"incorporated":[93],"using":[94],"principle":[98],"an":[101,148],"extensive":[102],"vertical":[103],"pose":[104],"workspace.":[105],"enable":[107],"perform":[111,157],"dexterous":[112],"tasks":[113],"dealing":[115],"with":[116,147],"these":[117],"complex":[118],"transmissions,":[119],"novel":[123],"whole-body":[124],"controller":[125,187],"(WBC)":[126],"incorporating":[127],"internal":[128],"constraints":[129],"model":[131],"behavior.":[135],"addition,":[137],"details":[138],"our":[140,184],"WBC":[141],"presented":[146],"emphasis":[149],"points":[152],"hardware":[154],"implementation.":[155],"We":[156],"design":[159,178,185],"analysis":[160],"as":[164,166],"well":[165],"empirical":[167],"evaluations":[168],"under":[169],"lens":[171],"Centroidal":[174],"Inertia":[175],"Isotropy":[176],"(CII)":[177],"metric.":[179],"Lastly,":[180],"experimentally":[182],"validate":[183],"testing":[189],"center":[190],"mass":[192],"(CoM)":[193],"balancing,":[194,196],"one-leg":[195],"stepping-in-place":[198],"behaviors.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}