{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,26]],"date-time":"2025-03-26T12:26:52Z","timestamp":1742992012626,"version":"3.40.3"},"publisher-location":"Cham","reference-count":23,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030954581"},{"type":"electronic","value":"9783030954598"}],"license":[{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022]]},"DOI":"10.1007\/978-3-030-95459-8_54","type":"book-chapter","created":{"date-parts":[[2022,2,17]],"date-time":"2022-02-17T19:02:27Z","timestamp":1645124547000},"page":"876-889","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Compliance Optimization Considering Dynamics for Whole-Body Control of a Humanoid"],"prefix":"10.1007","author":[{"given":"Ko","family":"Yamamoto","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yoshihiko","family":"Nakamura","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,2,17]]},"reference":[{"key":"54_CR1","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/0025-5564(72)90061-2","volume":"15","author":"M Vukobratovi\u0107","year":"1972","unstructured":"Vukobratovi\u0107, M., Stepanenko, J.: On the stability of anthropomorphic systems. Math. Biosci. 15, 1\u201337 (1972)","journal-title":"Math. Biosci."},{"key":"54_CR2","unstructured":"Kajita, S., et\u00a0al.: Biped walking pattern generation by using preview control of zero-moment point. In: Proceedings of IEEE ICRA, pp. 1620\u20131626 (2003)"},{"key":"54_CR3","doi-asserted-by":"publisher","first-page":"719","DOI":"10.1163\/016918610X493552","volume":"24","author":"A Herdt","year":"2010","unstructured":"Herdt, A., et al.: Online walking motion generation with automatic foot step placement. Adv. Robot. 24, 719\u2013737 (2010)","journal-title":"Adv. Robot."},{"key":"54_CR4","doi-asserted-by":"crossref","unstructured":"Pratt, J., et\u00a0al.: Capture point: a step toward humanoid push recovery. In: Proceedings of IEEE-RAS HUMANOIDS, pp. 200\u2013207 (2006)","DOI":"10.1109\/ICHR.2006.321385"},{"issue":"9","key":"54_CR5","doi-asserted-by":"publisher","first-page":"1094","DOI":"10.1177\/0278364912452673","volume":"31","author":"T Koolen","year":"2012","unstructured":"Koolen, T., et al.: Capturability-based analysis and control of legged locomotion, part 1: theory and application to three simple gait models. Int. J. Robot. Res. 31(9), 1094\u20131113 (2012)","journal-title":"Int. J. Robot. Res."},{"key":"54_CR6","doi-asserted-by":"crossref","unstructured":"Hyon, S.H., Hale, J., Cheng, G.: Full-body compliant human-humanoid interaction: balancing in the presence of unknown external forces. IEEE Trans. Robot. 23(5), 884\u2013898 (2007)","DOI":"10.1109\/TRO.2007.904896"},{"issue":"1","key":"54_CR7","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1109\/JRA.1987.1087068","volume":"3","author":"O Khatib","year":"1987","unstructured":"Khatib, O.: A unified approach for motion and force control: the operational space formulation. IEEE Int. J. Robot. Autom. 3(1), 43\u201353 (1987)","journal-title":"IEEE Int. J. Robot. Autom."},{"issue":"3","key":"54_CR8","doi-asserted-by":"publisher","first-page":"483","DOI":"10.1109\/TRO.2010.2043757","volume":"26","author":"L Sentis","year":"2010","unstructured":"Sentis, L., Park, J., Khatib, O.: Compliant control of multicontact and center-of-mass behaviors in humanoid robots. IEEE Trans. Rob. 26(3), 483\u2013501 (2010)","journal-title":"IEEE Trans. Rob."},{"key":"54_CR9","doi-asserted-by":"crossref","unstructured":"Righetti, L., Schaal, S.: Quadratic programming for inverse dynamics with optimal distribution of contact forces. In: Proceedings of IEEE-RAS HUMANOIDS, pp. 538\u2013543 (2012)","DOI":"10.1109\/HUMANOIDS.2012.6651572"},{"key":"54_CR10","doi-asserted-by":"crossref","unstructured":"Wensing, P.M., Orin, D.E.: Generation of dynamic humanoid behaviors through task-space control with conic optimization. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 3088\u20133094 (2013)","DOI":"10.1109\/ICRA.2013.6631008"},{"key":"54_CR11","doi-asserted-by":"crossref","unstructured":"Yamamoto, K.: Robust walking by resolved viscoelasticity control explicitly considering structure-variability of a humanoid. In: Proceedings IEEE ICRA, pp. 3461\u20133468 (2017)","DOI":"10.1109\/ICRA.2017.7989395"},{"key":"54_CR12","unstructured":"Yamamoto, K., Ko, T., Murotani, K., Nakamura, Y.: Experimental validation of resolved viscoelasticity control on hydrostatically driven humanoid hydra. In: Proceedings of ISER (2018)"},{"key":"54_CR13","doi-asserted-by":"crossref","unstructured":"Ko, T., et\u00a0al.: Compliant biped locomotion of hydra, an electro-hydrostatically driven humanoid. In: Proceedings of IEEE-RAS HUMANOIDS, pp. 587\u2013592 (2018)","DOI":"10.1109\/HUMANOIDS.2018.8624973"},{"key":"54_CR14","doi-asserted-by":"crossref","unstructured":"Murotani, K., Yamamoto, K., Ko, T., Nakamura, Y.: Resolved viscoelasticity control considering singularity for knee-stretched walking of a humanoid (under review). In: Proceedings of ICRA (2019)","DOI":"10.1109\/ICRA.2019.8793605"},{"key":"54_CR15","doi-asserted-by":"crossref","unstructured":"Kaminaga, H., et\u00a0al.: Mechanism and control of whole-body electro-hydrostatic actuator driven humanoid robot hydra. In: Proceedings of ISER (2016)","DOI":"10.1007\/978-3-319-50115-4_57"},{"issue":"2","key":"54_CR16","doi-asserted-by":"publisher","first-page":"151","DOI":"10.1109\/70.88036","volume":"5","author":"MR Cutkosky","year":"1989","unstructured":"Cutkosky, M.R., Kao, I.: Computing and controlling the compliance of a robotic hand. IEEE Trans. Robot. Autom. 5(2), 151\u2013165 (1989)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"5\u20136","key":"54_CR17","first-page":"592","volume":"11","author":"M Athans","year":"1968","unstructured":"Athans, M.: The matrix minimum principle. Inf. Control 11(5\u20136), 592\u2013606 (1968)","journal-title":"Inf. Control"},{"issue":"7","key":"54_CR18","doi-asserted-by":"publisher","first-page":"341","DOI":"10.1080\/01691864.2016.1270853","volume":"31","author":"K Yamamoto","year":"2017","unstructured":"Yamamoto, K.: Humanoid motion analysis and control based on COG viscoelasticity. Adv. Robot. 31(7), 341\u2013354 (2017)","journal-title":"Adv. Robot."},{"key":"54_CR19","doi-asserted-by":"crossref","unstructured":"Hua., D., Lancaster, P.: Linear matrix equations from an inverse problem of vibration theory. Linear Algebra Appl. 246(1996), 31\u201347 (1996)","DOI":"10.1016\/0024-3795(94)00311-4"},{"key":"54_CR20","doi-asserted-by":"crossref","unstructured":"Xie, D.x., Zeng, J.: The optimal approximation solution associated with a nonnegative definite constraint matrix equation. In: Proceedings of the Ninth International Conference on Machine Learning and Cybernetics, pp. 117\u2013121 (2010)","DOI":"10.1109\/ICMLC.2010.5581083"},{"issue":"1","key":"54_CR21","doi-asserted-by":"publisher","first-page":"82","DOI":"10.1016\/j.robot.2007.09.012","volume":"56","author":"T Sugihara","year":"2007","unstructured":"Sugihara, T., Yamamoto, K., Nakamura, Y.: Hardware design of high performance miniature anthropomorphic robots. Robot. Auton. Syst. 56(1), 82\u201394 (2007)","journal-title":"Robot. Auton. Syst."},{"key":"54_CR22","doi-asserted-by":"publisher","first-page":"205","DOI":"10.1115\/1.3139699","volume":"104","author":"MW Walker","year":"1982","unstructured":"Walker, M.W., Orin, D.E.: Efficient dynamic computer simulation of robotic mechanisms. ASME Tran. J. Dyn. Syst. Meas. Contr. 104, 205\u2013211 (1982)","journal-title":"ASME Tran. J. Dyn. Syst. Meas. Contr."},{"key":"54_CR23","doi-asserted-by":"crossref","unstructured":"Sugihara, T.: Standing stabilizability and stepping maneuver in planar bipdedalism based on the best COM-ZMP regulator. In: Proceedings of IEEE ICRA, pp. 1966\u20131971 (2009)","DOI":"10.1109\/ROBOT.2009.5152284"}],"container-title":["Springer Proceedings in Advanced Robotics","Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-95459-8_54","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,2,17]],"date-time":"2022-02-17T19:09:48Z","timestamp":1645124988000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-95459-8_54"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022]]},"ISBN":["9783030954581","9783030954598"],"references-count":23,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-95459-8_54","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"type":"print","value":"2511-1256"},{"type":"electronic","value":"2511-1264"}],"subject":[],"published":{"date-parts":[[2022]]},"assertion":[{"value":"17 February 2022","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ISRR","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"The International Symposium of Robotics Research","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Hanoi","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Vietnam","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2019","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"6 October 2019","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"10 October 2019","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"isrr2019","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/h2t-projects.webarchiv.kit.edu\/Projects\/ISRR2019\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}