{"id":"https://openalex.org/W4404955244","doi":"https://doi.org/10.1109/humanoids58906.2024.10769876","title":"Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques","display_name":"Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4404955244","doi":"https://doi.org/10.1109/humanoids58906.2024.10769876"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://arxiv.org/pdf/2409.18649","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055707799","display_name":"Carlotta Sartore","orcid":"https://orcid.org/0000-0003-1759-0089"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["GB","IT"],"is_corresponding":false,"raw_author_name":"Carlotta Sartore","raw_affiliation_strings":["Center for Robotics Technologies, Artificial and Mechanical Intelligence Istituto Italiano di Tecnologia, Genova, Italy","School of Computer Science, The University of Manchester, Manchester, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Manchester, Manchester, United Kingdom","institution_ids":["https://openalex.org/I28407311"]},{"raw_affiliation_string":"Center for Robotics Technologies, Artificial and Mechanical Intelligence Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078318392","display_name":"Marco Rando","orcid":"https://orcid.org/0009-0008-3839-1429"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Rando","raw_affiliation_strings":["Center for Robotics Technologies, Artificial and Mechanical Intelligence Istituto Italiano di Tecnologia, Genova, Italy","MaLGa-DIBRIS, University of Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Center for Robotics Technologies, Artificial and Mechanical Intelligence Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"MaLGa-DIBRIS, University of Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049751640","display_name":"Giulio Romualdi","orcid":"https://orcid.org/0000-0002-6461-3231"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulio Romualdi","raw_affiliation_strings":["Center for Robotics Technologies, Artificial and Mechanical Intelligence Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Center for Robotics Technologies, Artificial and Mechanical Intelligence Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041695668","display_name":"Cesare Molinari","orcid":"https://orcid.org/0000-0003-0864-5682"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cesare Molinari","raw_affiliation_strings":["MalGa-DIMA, University of Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"MalGa-DIMA, University of Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061220999","display_name":"Lorenzo Rosasco","orcid":"https://orcid.org/0000-0003-3098-383X"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Rosasco","raw_affiliation_strings":["CBMM-MIT, Cambridge, MA, USA","MaLGa-DIBRIS, University of Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"MaLGa-DIBRIS, University of Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"CBMM-MIT, Cambridge, MA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081455901","display_name":"Daniele Pucci","orcid":"https://orcid.org/0000-0002-7600-3203"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB","IT"],"is_corresponding":false,"raw_author_name":"Daniele Pucci","raw_affiliation_strings":["Center for Robotics Technologies, Artificial and Mechanical Intelligence Istituto Italiano di Tecnologia, Genova, Italy","School of Computer Science, The University of Manchester, Manchester, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Center for Robotics Technologies, Artificial and Mechanical Intelligence Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"School of Computer Science, The University of Manchester, Manchester, United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":{"min":0,"max":84},"biblio":{"volume":null,"issue":null,"first_page":"996","last_page":"1003"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":0.9971,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":0.9971,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13354","display_name":"Genetic Influence on Human Athletic Performance","score":0.9592,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Lower Limb Exoskeleton Robotics","score":0.9385,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cma-es","display_name":"CMA-ES","score":0.65613043},{"id":"https://openalex.org/keywords/differential-evolution","display_name":"Differential evolution","score":0.5349392},{"id":"https://openalex.org/keywords/dynamic-walking","display_name":"Dynamic Walking","score":0.506463}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.89020395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.703831},{"id":"https://openalex.org/C205555498","wikidata":"https://www.wikidata.org/wiki/Q505588","display_name":"CMA-ES","level":4,"score":0.65613043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6345307},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.54296243},{"id":"https://openalex.org/C74750220","wikidata":"https://www.wikidata.org/wiki/Q2662197","display_name":"Differential evolution","level":2,"score":0.5349392},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.47512987},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4343786},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.41853675},{"id":"https://openalex.org/C207002847","wikidata":"https://www.wikidata.org/wiki/Q2912857","display_name":"Evolution strategy","level":3,"score":0.40207157},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.25681198},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.202292},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12435457},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.18649","pdf_url":"http://arxiv.org/pdf/2409.18649","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.18649","pdf_url":"http://arxiv.org/pdf/2409.18649","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.46,"display_name":"Sustainable cities and communities"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W8431176","https://openalex.org/W4285805527","https://openalex.org/W4206833511","https://openalex.org/W2956183930","https://openalex.org/W2475446362","https://openalex.org/W2474606508","https://openalex.org/W2091794924","https://openalex.org/W2055683077","https://openalex.org/W2052367557","https://openalex.org/W1994892376"],"abstract_inverted_index":{"Developing":[0],"sophisticated":[1],"control":[2,45],"architectures":[3,16],"has":[4],"endowed":[5],"robots,":[6,9],"particularly":[7],"humanoid":[8,89],"with":[10],"numerous":[11],"capabilities.":[12],"However,":[13],"tuning":[14,145],"these":[15],"remains":[17],"a":[18,32,43],"challenging":[19],"and":[20,72,84,114,125],"time-consuming":[21],"task":[22,121],"that":[23,94],"requires":[24],"expert":[25],"intervention.":[26,152],"In":[27],"this":[28],"work,":[29],"we":[30],"propose":[31],"methodology":[33,53],"to":[34,142],"automatically":[35],"tune":[36],"the":[37,78,86,97,111,120,129,136,144,148],"gains":[38],"of":[39,42,138],"all":[40],"layers":[41],"hierarchical":[44],"architecture":[46],"for":[47,150],"walking":[48],"humanoids.":[49],"We":[50,76],"tested":[51],"our":[52,139],"by":[54,110],"employing":[55],"different":[56],"gradient-free":[57],"optimization":[58],"methods:":[59],"Genetic":[60],"Algorithm":[61],"(GA),":[62],"Covariance":[63],"Matrix":[64],"Adaptation":[65],"Evolution":[66,69,74],"Strategy":[67,70],"(CMA-ES),":[68],"(ES),":[71],"Differential":[73],"(DE).":[75],"validated":[77],"parameter":[79],"found":[80],"both":[81,122],"in":[82,118,123],"simulation":[83,124],"on":[85,128],"real":[87,130],"ergoCub":[88],"robot.":[90],"Our":[91],"results":[92],"show":[93],"GA":[95],"achieves":[96],"fastest":[98],"convergence":[99],"$\\left(10":[100],"\\times":[101,107],"10^{3}\\right.$":[102],"function":[103],"evaluations":[104],"vs":[105],"$25":[106],"10^{3}$":[108],"needed":[109],"other":[112],"algorithms)":[113],"100%":[115],"success":[116],"rate":[117],"completing":[119],"when":[126],"transferred":[127],"robotic":[131],"platform.":[132],"These":[133],"findings":[134],"highlight":[135],"potential":[137],"proposed":[140],"method":[141],"automate":[143],"process,":[146],"reducing":[147],"need":[149],"manual":[151]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4404955244","counts_by_year":[],"updated_date":"2024-12-04T10:02:39.945080","created_date":"2024-12-04"}