Concepedia

Whole-body Control

Whole-Body Control is a control strategy in humanoid robotics that coordinates all available degrees of freedom and contact interactions across the entire robotic body to simultaneously achieve multiple tasks such as balance, manipulation, and motion, while respecting dynamic and environmental constraints.

636

Publications

31K

Citations

1.6K

Authors

437

Institutions

Publications per year

2017–2026

223

Variants

Whole Body Control

Parents

Children

Publications

636

Control of whole body balance in the frontal plane during human walking

Colum D. MacKinnon, David A. Winter · Journal of Biomechanics · 1993 · 736 citations

, , +14

Embodied Action, Enacted Bodies: the Example of Hypoglycaemia

Annemarie Mol, John Law · Body & Society · 2004 · 692 citations · Full text

, , +16

Resolved momentum control: humanoid motion planning based on the linear and angular momentum

Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko et al. · 2004 · 463 citations

, , +17

SYNTHESIS OF WHOLE-BODY BEHAVIORS THROUGH HIERARCHICAL CONTROL OF BEHAVIORAL PRIMITIVES

Luis Sentis, Oussama Khatib · International Journal of Humanoid Robotics · 2005 · 420 citations

, , +16

Whole-body motion planning with centroidal dynamics and full kinematics

Hongkai Dai, Andrés Valenzuela, Russ Tedrake · 2014 · 418 citations · Full text

, , +17

1–5 of 636

Authors

1.6K

  1. MI
    Masayuki Inaba

    The University of Tokyo, Japan

    29 publications · 937 citations

    18

    h-index

  2. KY
    Kazuhito Yokoi

    National Institute of Advanced Industrial Science and Technology, Japan

    21 publications · 1.3K citations

    18

    h-index

  3. CO
    Christian Ott

    Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR), Germany

    19 publications · 966 citations

    17

    h-index

  4. AK
    Abderrahmane Kheddar

    Centre National de la Recherche Scientifique, France

    16 publications · 578 citations

    15

    h-index

  5. MH
    Marco Hutter

    ETH Zurich, Switzerland

    17 publications · 1.7K citations

    15

    h-index

1–5 of 1.6K

Institutions

437

  1. National Institute of Advanced Industrial Science and Technology

    Tsukuba, Japan

    26 h-index

    141 publications

    8.8K citations

  2. Italian Institute of Technology

    Genoa, Italy

    25 h-index

    162 publications

    6.4K citations

  3. The University of Tokyo

    Tokyo, Japan

    25 h-index

    235 publications

    8.1K citations

  4. Centre National de la Recherche Scientifique

    Paris, France

    25 h-index

    152 publications

    6.7K citations

  5. Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)

    Cologne, Germany

    22 h-index

    124 publications

    7.1K citations

  6. Laboratoire d'Analyse et d'Architecture des Systèmes

    Toulouse, France

    21 h-index

    90 publications

    4.2K citations

  7. ETH Zurich

    Zurich, Switzerland

    18 h-index

    99 publications

    11.3K citations

  8. Massachusetts Institute of Technology

    Cambridge, United States

    16 h-index

    55 publications

    5K citations

1–8 of 437

Venues

  1. IEEE Robotics and Automation Letters

    40 publications · 2.3K citations

    26

    h-index

  2. Robotics and Autonomous Systems

    25 publications · 821 citations

    18

    h-index

  3. International Journal of Humanoid Robotics

    19 publications · 1.3K citations

    15

    h-index

  4. IEEE Transactions on Robotics

    13 publications · 1.4K citations

    13

    h-index

  5. arXiv (Cornell University)

    Repository · 12 publications · 517 citations

    11

    h-index

1–5