IEEE Robotics & Automation Magazine - March 2016 - 33
[3] T. Sugihara, Y. Nakamura, and H. Inoue, "Realtime humanoid motion generation through ZMP manipulation based on inverted pendulum control," in
Proc. IEEE Int. Conf. Robotics Automation, 2002, pp. 1404-1409.
[4] Y. Choi, D. Kim, Y. Oh, and B.-J. You, "Posture/walking control for humanoid robot based on kinematic resolution of CoM jacobian with embedded motion," IEEE Trans. Robot., vol. 23, no. 6, pp. 1285-1293, 2007.
[5] K. Hu, C. Ott, and D. Lee, "Online iterative learning control of zeromoment point for biped walking stabilization," in Proc. IEEE Int. Conf. Robotics
Automation, 2015, pp. 5127-5133.
[6] G. Cheng, S.-H. Hyon, J. Morimoto, A. Ude, G. Colvin, W. Scroggin, and S.
C. Jacobsen, "CB: A humanoid research platform for exploring neuroscience,"
in Proc. IEEE-RAS Int. Conf. Humanoid Robots, 2006, pp. 182-187.
[7] J. Kim, Y. Lee, S. Kwon, K. Seo, H. Kwak, H. Lee, and K. Roh, "Development of the lower limbs for a humanoid robot," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots Systems, 2012, pp. 4000-4005.
[8] J. Englsberger, A. Werner, C. Ott, B. Henze, M. A. Roa, G. Garofalo, R.
Burger, A. Beyer, O. Eiberger, K. Schmid, and A. Albu-Schäffer, "Overview of
the torque-controlled humanoid robot TORO," in Proc. IEEERAS Int. Conf.
Humanoid Robots, 2014, pp. 916-923.
[9] C. S. Knabe, V. Orekhov, M. A. Hopkins, B. Y. Lattimer, and D. W. Hong,
"Two configurations of series elastic actuators for linearly actuated humanoid
robots with large range of motion," in Proc. IEEE-RAS Int. Conf. Humanoid
Robots, 2014, p. 1096.
[10] S. Hyon, J. Hale, and G. Cheng, "Full-body compliant human-humanoid
interaction: Balancing in the presence of unknown external forces," IEEE
Trans. Robot., vol. 23, no. 5, pp. 884-898, 2007.
[11] S. Hyon, R. Osu, and Y. Otaka, "Integration of multi-level postural balancing on humanoid robots," in Proc. ICRA, 2009, pp. 1549-1556.
[12] C. Ott, M. A. Roa, and G. Hirzinger, "Posture and balance control for
biped robots based on contact force optimization," in Proc. IEEE-RAS Int.
Conf. Humanoid Robots, 2011, pp. 26-33.
[13] L. Righetti, J. Buchli, M. Mistry, M. Kalakrishnan, and S. Schaal, "Optimal distribution of contact forces with inverse-dynamics control," Int. J.
Robot. Res., vol. 32, no. 3, pp. 280-298, 2013.
[14] A. Herzog, N. Rotella, S. Mason, F. Grimminger, S. Schaal, and L. Righetti, "Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid," Auton. Robot., pp. 1-19. Aug. 2015, DOI: 10.1007/
s10514-015-9476-6.
[15] R. J. Peterka, "Sensorimotor integration in human postural control," J.
Neurophysiol., vol. 88, pp. 1097-1118, May 2002.
[16] T. Mergner, "A neurological view on reactive human stance control,"
Annu. Rev. Contr., vol. 34, no. 2, pp. 177-198, 2010.
[17] T. Mergner, G. Schweigart, and L. Fennell, "Vestibular humanoid postural
control," J. Physiol. Paris, vol. 103, no. 3-5, pp. 178-194, 2009.
[18] F. Caccavale, C. Natale, B. Siciliano, and L. Villani, "Six-DoF impedance
control based on angle/axis representations," IEEE Trans. Robot. Automat.,
vol. 15, no. 2, pp. 289-299, 1999.
[19] G. Garofalo, B. Henze, J. Engelsberger, and C. Ott, "On the inertially decoupled structure of the floating base robot dynamics," in Proc. 8th Vienna
Int. Conf. Mathematical Modelling MATHMOD, 2015, pp. 322-327.
[20] C. Maurer, T. Mergner, and R. J. Peterka, "Multisensory control of human
upright stance," Exp. Brain Res., vol. 171, no. 2, pp. 231-250, 2006.
[21] V. Lippi, T. Mergner, and G. Hettich, "A bio-inspired modular system for
humanoid posture control," in Proc. IROS Workshop Neuroscience Robotics
"Towards robot-enabled, neuroscience-guided healthy society", 2013, pp. 16-21.
[22] G. Hettich, L. Assländer, A. Gollhofer, and T. Mergner, "Human hip ankle
coordination emerging from multisensory feedback control," Hum. Mov. Sci.,
vol. 37, pp. 123-146, Aug. 2014.
[23] A. Alexandrov, A. A. Frolov, and J. Massion, "Biomechanical analysis of
movement strategies in human forward trunkbending. I. modeling," Biol. Cybern., vol. 84, no. 6, pp. 425-434, 2001.
[24] A. D. Kuo and F. E. Zajac, "Human standing posture: Multi-joint movement strategies based on biomechanical constraints," Prog. Brain Res., vol. 97,
pp. 349-358, ISBN: 978-0-444-81252-0, Chapter 31 1993.
[25] B. Henze, A. Werner, M. A. Roa, G. Garofalo, J. Englsberger, and C. Ott,
"Control applications of TORO-A torque controlled humanoid robot," in
Proc. IEEE-RAS Int. Conf. Humanoid Robots, 2014, p. 841.
[26] M. H. Woollacott, A. Shumway-Cook, and L. M. Nashner, "Aging and
posture control: Changes in sensory organization and muscular coordination," Int. J. Aging Hum. Develop., vol. 23, no. 2, pp. 97-114, 1986.
[27] M. Cenciarini, P. J. Loughlin, P. J. Sparto, and M. S. Redfern, "Stiffness
and damping in postural control increase with age," IEEE Trans. bio-med.
Eng., vol. 57, no. 2, pp. 267-275, Jan. 2010.
[28] F. Antritter, F. Scholz, G. Hettich, and T. Mergner, "Stability analysis of
human stance control from the system theoretic point of view," in Proc. European Control Conf., 2014, pp. 1849-1855.
[29] A. D. Kuo, "An optimal state estimation model of sensory integration in
human postural balance," J. Neural Eng., vol. 2, no. 3, p. S235, 2005.
Christian Ott, the Institute of Robotics and Mechatronics,
German Aerospace Center, Wessling, Germany. E-mail:
christian.ott@dlr.de.
Bernd Henze, the Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany. E-mail: bernd.
henze@dlr.de.
Georg Hettich, the University Hospital Freiburg, Freiburg, Germany. E-mail: georg.hettich@gmx.de.
Tim Niklas Seyde, the Institute of Robotics and Mechatronics,
German Aerospace Center, Wessling, Germany. E-mails: tseyde@student.ethz.ch, tim_seyde@yahoo.de.
Maximo A. Roa, the Institute of Robotics and Mechatronics,
German Aerospace Center, Wessling, Germany. E-mail: maximo.roa@dlr.de.
Vittorio Lippi, the University Hospital Freiburg, Freiburg, Germany. E-mail: vittorio.lippi@uniklinik-freiburg.de.
Thomas Mergner, the University Hospital Freiburg, Freiburg,
Germany. E-mail: mergner@uni-freiburg.de.
march 2016
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
33
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2016
IEEE Robotics & Automation Magazine - March 2016 - Cover1
IEEE Robotics & Automation Magazine - March 2016 - Cover2
IEEE Robotics & Automation Magazine - March 2016 - 1
IEEE Robotics & Automation Magazine - March 2016 - 2
IEEE Robotics & Automation Magazine - March 2016 - 3
IEEE Robotics & Automation Magazine - March 2016 - 4
IEEE Robotics & Automation Magazine - March 2016 - 5
IEEE Robotics & Automation Magazine - March 2016 - 6
IEEE Robotics & Automation Magazine - March 2016 - 7
IEEE Robotics & Automation Magazine - March 2016 - 8
IEEE Robotics & Automation Magazine - March 2016 - 9
IEEE Robotics & Automation Magazine - March 2016 - 10
IEEE Robotics & Automation Magazine - March 2016 - 11
IEEE Robotics & Automation Magazine - March 2016 - 12
IEEE Robotics & Automation Magazine - March 2016 - 13
IEEE Robotics & Automation Magazine - March 2016 - 14
IEEE Robotics & Automation Magazine - March 2016 - 15
IEEE Robotics & Automation Magazine - March 2016 - 16
IEEE Robotics & Automation Magazine - March 2016 - 17
IEEE Robotics & Automation Magazine - March 2016 - 18
IEEE Robotics & Automation Magazine - March 2016 - 19
IEEE Robotics & Automation Magazine - March 2016 - 20
IEEE Robotics & Automation Magazine - March 2016 - 21
IEEE Robotics & Automation Magazine - March 2016 - 22
IEEE Robotics & Automation Magazine - March 2016 - 23
IEEE Robotics & Automation Magazine - March 2016 - 24
IEEE Robotics & Automation Magazine - March 2016 - 25
IEEE Robotics & Automation Magazine - March 2016 - 26
IEEE Robotics & Automation Magazine - March 2016 - 27
IEEE Robotics & Automation Magazine - March 2016 - 28
IEEE Robotics & Automation Magazine - March 2016 - 29
IEEE Robotics & Automation Magazine - March 2016 - 30
IEEE Robotics & Automation Magazine - March 2016 - 31
IEEE Robotics & Automation Magazine - March 2016 - 32
IEEE Robotics & Automation Magazine - March 2016 - 33
IEEE Robotics & Automation Magazine - March 2016 - 34
IEEE Robotics & Automation Magazine - March 2016 - 35
IEEE Robotics & Automation Magazine - March 2016 - 36
IEEE Robotics & Automation Magazine - March 2016 - 37
IEEE Robotics & Automation Magazine - March 2016 - 38
IEEE Robotics & Automation Magazine - March 2016 - 39
IEEE Robotics & Automation Magazine - March 2016 - 40
IEEE Robotics & Automation Magazine - March 2016 - 41
IEEE Robotics & Automation Magazine - March 2016 - 42
IEEE Robotics & Automation Magazine - March 2016 - 43
IEEE Robotics & Automation Magazine - March 2016 - 44
IEEE Robotics & Automation Magazine - March 2016 - 45
IEEE Robotics & Automation Magazine - March 2016 - 46
IEEE Robotics & Automation Magazine - March 2016 - 47
IEEE Robotics & Automation Magazine - March 2016 - 48
IEEE Robotics & Automation Magazine - March 2016 - 49
IEEE Robotics & Automation Magazine - March 2016 - 50
IEEE Robotics & Automation Magazine - March 2016 - 51
IEEE Robotics & Automation Magazine - March 2016 - 52
IEEE Robotics & Automation Magazine - March 2016 - 53
IEEE Robotics & Automation Magazine - March 2016 - 54
IEEE Robotics & Automation Magazine - March 2016 - 55
IEEE Robotics & Automation Magazine - March 2016 - 56
IEEE Robotics & Automation Magazine - March 2016 - 57
IEEE Robotics & Automation Magazine - March 2016 - 58
IEEE Robotics & Automation Magazine - March 2016 - 59
IEEE Robotics & Automation Magazine - March 2016 - 60
IEEE Robotics & Automation Magazine - March 2016 - 61
IEEE Robotics & Automation Magazine - March 2016 - 62
IEEE Robotics & Automation Magazine - March 2016 - 63
IEEE Robotics & Automation Magazine - March 2016 - 64
IEEE Robotics & Automation Magazine - March 2016 - 65
IEEE Robotics & Automation Magazine - March 2016 - 66
IEEE Robotics & Automation Magazine - March 2016 - 67
IEEE Robotics & Automation Magazine - March 2016 - 68
IEEE Robotics & Automation Magazine - March 2016 - 69
IEEE Robotics & Automation Magazine - March 2016 - 70
IEEE Robotics & Automation Magazine - March 2016 - 71
IEEE Robotics & Automation Magazine - March 2016 - 72
IEEE Robotics & Automation Magazine - March 2016 - 73
IEEE Robotics & Automation Magazine - March 2016 - 74
IEEE Robotics & Automation Magazine - March 2016 - 75
IEEE Robotics & Automation Magazine - March 2016 - 76
IEEE Robotics & Automation Magazine - March 2016 - 77
IEEE Robotics & Automation Magazine - March 2016 - 78
IEEE Robotics & Automation Magazine - March 2016 - 79
IEEE Robotics & Automation Magazine - March 2016 - 80
IEEE Robotics & Automation Magazine - March 2016 - 81
IEEE Robotics & Automation Magazine - March 2016 - 82
IEEE Robotics & Automation Magazine - March 2016 - 83
IEEE Robotics & Automation Magazine - March 2016 - 84
IEEE Robotics & Automation Magazine - March 2016 - 85
IEEE Robotics & Automation Magazine - March 2016 - 86
IEEE Robotics & Automation Magazine - March 2016 - 87
IEEE Robotics & Automation Magazine - March 2016 - 88
IEEE Robotics & Automation Magazine - March 2016 - 89
IEEE Robotics & Automation Magazine - March 2016 - 90
IEEE Robotics & Automation Magazine - March 2016 - 91
IEEE Robotics & Automation Magazine - March 2016 - 92
IEEE Robotics & Automation Magazine - March 2016 - 93
IEEE Robotics & Automation Magazine - March 2016 - 94
IEEE Robotics & Automation Magazine - March 2016 - 95
IEEE Robotics & Automation Magazine - March 2016 - 96
IEEE Robotics & Automation Magazine - March 2016 - 97
IEEE Robotics & Automation Magazine - March 2016 - 98
IEEE Robotics & Automation Magazine - March 2016 - 99
IEEE Robotics & Automation Magazine - March 2016 - 100
IEEE Robotics & Automation Magazine - March 2016 - 101
IEEE Robotics & Automation Magazine - March 2016 - 102
IEEE Robotics & Automation Magazine - March 2016 - 103
IEEE Robotics & Automation Magazine - March 2016 - 104
IEEE Robotics & Automation Magazine - March 2016 - 105
IEEE Robotics & Automation Magazine - March 2016 - 106
IEEE Robotics & Automation Magazine - March 2016 - 107
IEEE Robotics & Automation Magazine - March 2016 - 108
IEEE Robotics & Automation Magazine - March 2016 - 109
IEEE Robotics & Automation Magazine - March 2016 - 110
IEEE Robotics & Automation Magazine - March 2016 - 111
IEEE Robotics & Automation Magazine - March 2016 - 112
IEEE Robotics & Automation Magazine - March 2016 - 113
IEEE Robotics & Automation Magazine - March 2016 - 114
IEEE Robotics & Automation Magazine - March 2016 - 115
IEEE Robotics & Automation Magazine - March 2016 - 116
IEEE Robotics & Automation Magazine - March 2016 - 117
IEEE Robotics & Automation Magazine - March 2016 - 118
IEEE Robotics & Automation Magazine - March 2016 - 119
IEEE Robotics & Automation Magazine - March 2016 - 120
IEEE Robotics & Automation Magazine - March 2016 - Cover3
IEEE Robotics & Automation Magazine - March 2016 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com