{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,12]],"date-time":"2026-05-12T15:29:24Z","timestamp":1778599764850,"version":"3.51.4"},"reference-count":19,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2014,5,22]],"date-time":"2014-05-22T00:00:00Z","timestamp":1400716800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2015,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this paper, an analytical formula for the determination of the center of mass position in humanoid platforms is proposed and tested in a real humanoid robot. The formula uses the force-torque values obtained by the two force-torque sensors applied on the feet of the robot and the measured currents required from the motors to maintain balance as inputs. The proposed formula outputs the real center of mass position that minimizes the errors between real humanoid robots and virtual models. Data related to the Zero Moment Point positions and to the joint movements are compared with the target values, showing how the application of the proposed formula enables achieving better repeatability and predictability of the static and dynamic robot behaviour.<\/jats:p>","DOI":"10.1017\/s0263574714001301","type":"journal-article","created":{"date-parts":[[2014,5,22]],"date-time":"2014-05-22T09:55:50Z","timestamp":1400752550000},"page":"2083-2099","source":"Crossref","is-referenced-by-count":11,"title":["Dynamic balance optimization in biped robots: Physical modeling, implementation and tests using an innovative formula"],"prefix":"10.1017","volume":"33","author":[{"given":"G. G.","family":"Muscolo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"C. T.","family":"Recchiuto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"R.","family":"Molfino","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,5,22]]},"reference":[{"key":"S0263574714001301_ref18","volume-title":"Proceedings of the 2003 IEEE International Conference on Robotics and Automation","author":"Kajita","year":"2003"},{"key":"S0263574714001301_ref17","doi-asserted-by":"publisher","DOI":"10.1023\/A:1013210909840"},{"key":"S0263574714001301_ref16","volume-title":"J. Robot.","author":"Muscolo","year":"2013"},{"key":"S0263574714001301_ref15","unstructured":"R. Beira , M. Lopes , M. Pra\u00e7a , J. Santos-Victor , A. Bernardino , G. Metta , F. Becchi and R. Saltar\u00e9n , \u201cDesign of the Robot-Cub (iCub) Head,\u201d Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida (May 2006)."},{"key":"S0263574714001301_ref14","first-page":"365","article-title":"Biped walking robots created at Waseda University: WL and WABIAN family","volume":"49\u201364","author":"Lim","year":"2007","journal-title":"Phil. Trans. R. Soc."},{"key":"S0263574714001301_ref13","volume-title":"Proceedings of the 2002 IEEE International Conference on Robotics and Automation","author":"Lim","year":"2002"},{"key":"S0263574714001301_ref12","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"S0263574714001301_ref11","doi-asserted-by":"publisher","DOI":"10.5923\/j.jmea.20120204.05"},{"key":"S0263574714001301_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.631234"},{"key":"S0263574714001301_ref7","volume-title":"2007 IEEE International Conference on Robotics and Automation","author":"Khalil","year":"2007"},{"key":"S0263574714001301_ref4","doi-asserted-by":"crossref","unstructured":"K. Ayusawa , G. Venture and Y. Nakamura , \u201cIdentification of Humanoid Robots Dynamics Using Floating-base Motion Dynamics\u201d, Proceedings of the 2008 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Acropolis Convention Center. Nice, France (Sept. 22\u201326, 2008).","DOI":"10.1109\/IROS.2008.4650614"},{"key":"S0263574714001301_ref1","volume-title":"Proceedings of the 2007 IEEE\/RSJ InternationalConference on Intelligent Robots and Systems","author":"Kim","year":"2007"},{"key":"S0263574714001301_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2003.812830"},{"key":"S0263574714001301_ref3","volume-title":"Proceedings of the International Conference on Control, Automation and Systems 2007","author":"Kwon","year":"2007"},{"key":"S0263574714001301_ref6","first-page":"3316","volume-title":"Proceedings of the 1998 IEEE International Conference on Robotics and Automation","author":"Liu","year":"1998"},{"key":"S0263574714001301_ref10","unstructured":"G. G. Muscolo and C. T. Recchiuto , \u201cMetodo per il calcolo del centro di massa per una piattaforma umanoide,\u201d Italian Patent Pending. FI2011A000232. (Oct. 21th, 2011)."},{"key":"S0263574714001301_ref9","doi-asserted-by":"crossref","unstructured":"G. G. Muscolo , C. T. Recchiuto , K. Hashimoto , C. Laschi , P. Dario and A. Takanishi , \u201cA Method for the calculation of the effective Center of Mass of Humanoid robots\u201d, available at: https:\/\/2.zoppoz.workers.dev:443\/http\/www.humanoids2011.org\/11th IEEE-RAS International Conference on Humanoid Robots, Bled-Slovenia (Oct. 26th - 28th, 2011).","DOI":"10.1109\/Humanoids.2011.6100864"},{"key":"S0263574714001301_ref2","first-page":"642","volume-title":"Humanoid Robots: Human-like Machines","author":"Nunez","year":"2007"},{"key":"S0263574714001301_ref19","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-13417-3"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714001301","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,10]],"date-time":"2019-08-10T18:54:10Z","timestamp":1565463250000},"score":1,"resource":{"primary":{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/www.cambridge.org\/core\/product\/identifier\/S0263574714001301\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,5,22]]},"references-count":19,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2015,12]]}},"alternative-id":["S0263574714001301"],"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.1017\/s0263574714001301","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,5,22]]}}}