{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T10:20:53Z","timestamp":1773656453071,"version":"3.50.1"},"reference-count":41,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2021,4]]},"DOI":"10.1109\/lra.2021.3066965","type":"journal-article","created":{"date-parts":[[2021,3,17]],"date-time":"2021-03-17T19:38:05Z","timestamp":1616009885000},"page":"4032-4039","source":"Crossref","is-referenced-by-count":11,"title":["Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts"],"prefix":"10.1109","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8518-351X","authenticated-orcid":false,"given":"Saeid","family":"Samadi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0037-2616","authenticated-orcid":false,"given":"Julien","family":"Roux","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Arnaud","family":"Tanguy","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2906-692X","authenticated-orcid":false,"given":"Stephane","family":"Caron","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9033-9742","authenticated-orcid":false,"given":"Abderrahmane","family":"Kheddar","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","first-page":"300","article-title":"Contact of nominally flat surfaces","volume":"295","author":"greenwood","year":"1966","journal-title":"Proc Royal Society Math Phys Sci"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1080\/0022027880200601"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2043757"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803399"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2898041"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803329"},{"key":"ref37","first-page":"19","author":"amir","year":"1985","journal-title":"Best Simultaneous Approximation (Chebyshev Centers)"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2007.4813852"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1137\/060656784"},{"key":"ref34","article-title":"Computational foundation for planner-in-the-loop multi-contact whole-body control of humanoid robots","author":"caron","year":"2015"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5651082"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2975725"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794348"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2018.8625014"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968059"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.028"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2623338"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.870649"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2786683"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353670"},{"key":"ref19","first-page":"3705?3711","article-title":"Dynamic walking on slippery surfaces: Demonstrating stable bipedal gaits with planned ground slippage","author":"or","year":"0","journal-title":"Proc IEEE Int Conf Robot Automat"},{"key":"ref28","first-page":"595?601","article-title":"A robust linear MPC approach to online generation of 3\ufffdd biped walking motion","author":"brasseur","year":"0","journal-title":"Proc IEEE-RAS Int Conf Humanoid Robots"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids43949.2019.9035072"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2006.321375"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-43089-4_26"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-016-9546-4"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574715000740"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803253"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids43949.2019.9035010"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543696"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-007-6046-2_32"},{"key":"ref9","article-title":"Impact-aware task-space quadratic-programming control","author":"wang","year":"2020"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2019.2943395"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2719765"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979602"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2257574"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197253"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2947907"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1002\/zamm.19970770411"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2876782"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9285111\/09380971.pdf?arnumber=9380971","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T14:54:15Z","timestamp":1652194455000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9380971\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,4]]},"references-count":41,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/lra.2021.3066965","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,4]]}}}