{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:51:20Z","timestamp":1777715480000,"version":"3.51.4"},"reference-count":16,"publisher":"SAGE Publications","issue":"14","license":[{"start":{"date-parts":[[2016,9,30]],"date-time":"2016-09-30T00:00:00Z","timestamp":1475193600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2016,12]]},"abstract":"<jats:p>This paper presents quantitative measures of a robot\u2019s physical ability to balance itself actively on a single point, line or area of support. These measures express the ratio of a change in the state of motion of the robot\u2019s center of mass to the amount of action required at the actuated joints in order to produce that change. They therefore represent measures of the gain of the robot mechanism as seen from the point of view of the balance control system. This paper is concerned mainly with ratios of velocities, called velocity gains, and it builds on earlier work by showing how these ratios can be defined and calculated for the case of a general planar or spatial robot balancing on a point, line or general rolling contact, or an area contact with a compliant surface. The paper concludes with three examples of use\u2014design of a triple pendulum, analysis of a hydraulic quadruped, and expressing the physics of planar balancing\u2014followed by a short discussion of gyroscopic balancing.<\/jats:p>","DOI":"10.1177\/0278364916669599","type":"journal-article","created":{"date-parts":[[2016,9,28]],"date-time":"2016-09-28T21:59:22Z","timestamp":1475099962000},"page":"1681-1696","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":20,"title":["Quantitative measures of a robot\u2019s physical ability to balance"],"prefix":"10.1177","volume":"35","author":[{"given":"Roy","family":"Featherstone","sequence":"first","affiliation":[{"name":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2016,9,30]]},"reference":[{"key":"bibr1-0278364916669599","doi-asserted-by":"publisher","DOI":"10.1109\/100.618022"},{"key":"bibr2-0278364916669599","volume-title":"Machine and behaviour co-design of a powerful minimally actuated hopping robot","author":"Driessen JJM","year":"2015"},{"key":"bibr3-0278364916669599","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"key":"bibr4-0278364916669599","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-7091-1379-0_32"},{"key":"bibr5-0278364916669599","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.026"},{"key":"bibr6-0278364916669599","volume-title":"International symposium on robotics research","author":"Featherstone R","year":"2015"},{"key":"bibr7-0278364916669599","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_3"},{"key":"bibr8-0278364916669599","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385896"},{"key":"bibr9-0278364916669599","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2005.847057"},{"key":"bibr10-0278364916669599","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.1990.4790817"},{"key":"bibr11-0278364916669599","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642139"},{"key":"bibr12-0278364916669599","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1308943"},{"key":"bibr13-0278364916669599","first-page":"5614","volume-title":"Proceedings of the American control conference","author":"Miyashita N","year":"2006"},{"key":"bibr14-0278364916669599","doi-asserted-by":"publisher","DOI":"10.1177\/0959651811402275"},{"key":"bibr15-0278364916669599","first-page":"1404","volume-title":"Proceedings of the IEEE international conference on robots and automation","author":"Sugihara T","year":"2002"},{"key":"bibr16-0278364916669599","first-page":"367","volume-title":"Proceedings of the 9th IEEE international conference on humanoid robots","author":"Xinjilefu X","year":"2009"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364916669599","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364916669599","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364916669599","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:17Z","timestamp":1777457717000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364916669599"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,9,30]]},"references-count":16,"journal-issue":{"issue":"14","published-print":{"date-parts":[[2016,12]]}},"alternative-id":["10.1177\/0278364916669599"],"URL":"https:\/\/doi.org\/10.1177\/0278364916669599","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,9,30]]}}}