{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T13:08:48Z","timestamp":1753880928998,"version":"3.41.2"},"reference-count":35,"publisher":"World Scientific Pub Co Pte Ltd","issue":"05","funder":[{"DOI":"10.13039\/501100001665","name":"French National Research Agency","doi-asserted-by":"crossref","award":["ANR-09-SEGI-011"],"award-info":[{"award-number":["ANR-09-SEGI-011"]}],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2021,10]]},"abstract":"<jats:p> In this paper, a new hybrid kinematic\/dynamic control scheme for humanoid robots is proposed. Its basic idea lies in the tracking of several values in both operational and joint spaces. These values include (i) the relative pose of the robot\u2019s feet, (ii) the position of the center of mass, (iii) the body\u2019s orientation, and (iv) the admissible range of variation of the joints. A zero-moment point (ZMP)-based dynamic feedback is included in the proposed scheme to improve the stability of dynamic motions. The proposed stabilizer is based on a spherical projection of a nonlinear PID regulation control law. Through the proposed study, it is shown that these objectives allow us to produce smooth dynamically stable whole-body motions. The effectiveness and robustness of the proposed control scheme are demonstrated through four real-time experimental scenarios conducted on the HOAP-3 humanoid robot. <\/jats:p>","DOI":"10.1142\/s021984362150016x","type":"journal-article","created":{"date-parts":[[2021,10,27]],"date-time":"2021-10-27T04:10:00Z","timestamp":1635307800000},"source":"Crossref","is-referenced-by-count":2,"title":["A New Hybrid Kinematic\/Dynamic Whole-Body Control for Humanoid Robots with Real-Time Experiments"],"prefix":"10.1142","volume":"18","author":[{"given":"D.","family":"Galdeano","sequence":"first","affiliation":[{"name":"LIRMM, Univ Montpellier, CNRS, Montpellier, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Chemori","sequence":"additional","affiliation":[{"name":"LIRMM, Univ Montpellier, CNRS, Montpellier, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S.","family":"Krut","sequence":"additional","affiliation":[{"name":"LIRMM, Univ Montpellier, CNRS, Montpellier, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"P.","family":"Fraisse","sequence":"additional","affiliation":[{"name":"LIRMM, Univ Montpellier, CNRS, Montpellier, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2021,11,30]]},"reference":[{"key":"S021984362150016XBIB001","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574706003043"},{"key":"S021984362150016XBIB002","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353584"},{"key":"S021984362150016XBIB003","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241826"},{"key":"S021984362150016XBIB004","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2001.973365"},{"key":"S021984362150016XBIB005","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5651082"},{"key":"S021984362150016XBIB006","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968162"},{"key":"S021984362150016XBIB007","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600201"},{"key":"S021984362150016XBIB008","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.1991.240390"},{"key":"S021984362150016XBIB009","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2010.5686274"},{"key":"S021984362150016XBIB010","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843615500401"},{"key":"S021984362150016XBIB011","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843615500395"},{"key":"S021984362150016XBIB012","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642100"},{"key":"S021984362150016XBIB013","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2020345"},{"key":"S021984362150016XBIB014","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843617500153"},{"key":"S021984362150016XBIB015","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843615500346"},{"key":"S021984362150016XBIB016","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843614420018"},{"key":"S021984362150016XBIB017","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843615500437"},{"key":"S021984362150016XBIB018","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843616500110"},{"key":"S021984362150016XBIB019","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2002.1184832"},{"key":"S021984362150016XBIB020","doi-asserted-by":"publisher","DOI":"10.1109\/ROMOCO.2004.240640"},{"key":"S021984362150016XBIB021","doi-asserted-by":"publisher","DOI":"10.1109\/SSD.2014.6808778"},{"key":"S021984362150016XBIB022","doi-asserted-by":"publisher","DOI":"10.1109\/SSD.2013.6564107"},{"key":"S021984362150016XBIB023","doi-asserted-by":"publisher","DOI":"10.3182\/20120905-3-HR-2030.00187"},{"key":"S021984362150016XBIB024","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041438"},{"key":"S021984362150016XBIB025","first-page":"22","volume-title":"Int. Conf. Informatics in Control, Automation and Robotics (ICINCO\u201910)","author":"Montecillo-Puente F.-J.","year":"2010"},{"key":"S021984362150016XBIB026","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8246955"},{"key":"S021984362150016XBIB027","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.802218"},{"key":"S021984362150016XBIB028","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9127-x"},{"key":"S021984362150016XBIB029","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1977.4309644"},{"key":"S021984362150016XBIB030","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199803)15:3<161::AID-ROB4>3.0.CO;2-O"},{"issue":"8","key":"S021984362150016XBIB031","first-page":"1005","volume":"15","author":"Su Y.","year":"2005","journal-title":"J. Robot. Syst."},{"key":"S021984362150016XBIB032","doi-asserted-by":"publisher","DOI":"10.1109\/37.341859"},{"key":"S021984362150016XBIB033","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2019.1704063"},{"key":"S021984362150016XBIB034","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2009.04.002"},{"key":"S021984362150016XBIB035","first-page":"1","volume-title":"IEEE Int. Conf. Advanced Robotics (ICAR)","author":"Mansard N.","year":"2009"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S021984362150016X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,12,16]],"date-time":"2021-12-16T11:20:52Z","timestamp":1639653652000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S021984362150016X"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,10]]},"references-count":35,"journal-issue":{"issue":"05","published-print":{"date-parts":[[2021,10]]}},"alternative-id":["10.1142\/S021984362150016X"],"URL":"https:\/\/doi.org\/10.1142\/s021984362150016x","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"type":"print","value":"0219-8436"},{"type":"electronic","value":"1793-6942"}],"subject":[],"published":{"date-parts":[[2021,10]]},"article-number":"2150016"}}