{"id":"https://openalex.org/W1964698013","doi":"https://doi.org/10.1017/s0263574710000172","title":"From human motion capture to humanoid locomotion imitation Application to the robots HRP-2 and HOAP-3","display_name":"From human motion capture to humanoid locomotion imitation Application to the robots HRP-2 and HOAP-3","publication_year":2010,"publication_date":"2010-05-19","ids":{"openalex":"https://openalex.org/W1964698013","doi":"https://doi.org/10.1017/s0263574710000172","mag":"1964698013"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574710000172","doi":"https://doi.org/10.1017/s0263574710000172","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574710000172","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-1"],"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086937784","display_name":"Luc Boutin","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Luc Boutin","raw_affiliation_strings":["D\u00e9partement G\u00e9nie M\u00e9canique et Syst\u00e8mes Complexes, Institut Pprime, CNRS - Universit\u00e9 de Poitiers - ENSMA, SP2MI, BP30179, 86962 Futuroscope, France","D\u00e9partement g\u00e9nie m\u00e9canique et syst\u00e8mes complexes, institut pprime, cnrs-universit\u00e9 de poitiers-ensma, sp2mi, bp30179, 86962 futuroscope, france#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"D\u00e9partement G\u00e9nie M\u00e9canique et Syst\u00e8mes Complexes, Institut Pprime, CNRS - Universit\u00e9 de Poitiers - ENSMA, SP2MI, BP30179, 86962 Futuroscope, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802931824","https://openalex.org/I32881790"]},{"raw_affiliation_string":"D\u00e9partement g\u00e9nie m\u00e9canique et syst\u00e8mes complexes, institut pprime, cnrs-universit\u00e9 de poitiers-ensma, sp2mi, bp30179, 86962 futuroscope, france#TAB#","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802931824","https://openalex.org/I32881790"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110717118","display_name":"Antoine Eon","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antoine Eon","raw_affiliation_strings":["D\u00e9partement G\u00e9nie M\u00e9canique et Syst\u00e8mes Complexes, Institut Pprime, CNRS - Universit\u00e9 de Poitiers - ENSMA, SP2MI, BP30179, 86962 Futuroscope, France","D\u00e9partement g\u00e9nie m\u00e9canique et syst\u00e8mes complexes, institut pprime, cnrs-universit\u00e9 de poitiers-ensma, sp2mi, bp30179, 86962 futuroscope, france#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"D\u00e9partement G\u00e9nie M\u00e9canique et Syst\u00e8mes Complexes, Institut Pprime, CNRS - Universit\u00e9 de Poitiers - ENSMA, SP2MI, BP30179, 86962 Futuroscope, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802931824","https://openalex.org/I32881790"]},{"raw_affiliation_string":"D\u00e9partement g\u00e9nie m\u00e9canique et syst\u00e8mes complexes, institut pprime, cnrs-universit\u00e9 de poitiers-ensma, sp2mi, bp30179, 86962 futuroscope, france#TAB#","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802931824","https://openalex.org/I32881790"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107330719","display_name":"S. Zeghloul","orcid":"https://orcid.org/0000-0003-3590-9532","observed_orcids":["https://orcid.org/0000-0003-3590-9532"]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Said Zeghloul","raw_affiliation_strings":["D\u00e9partement G\u00e9nie M\u00e9canique et Syst\u00e8mes Complexes, Institut Pprime, CNRS - Universit\u00e9 de Poitiers - ENSMA, SP2MI, BP30179, 86962 Futuroscope, France","D\u00e9partement g\u00e9nie m\u00e9canique et syst\u00e8mes complexes, institut pprime, cnrs-universit\u00e9 de poitiers-ensma, sp2mi, bp30179, 86962 futuroscope, france#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"D\u00e9partement G\u00e9nie M\u00e9canique et Syst\u00e8mes Complexes, Institut Pprime, CNRS - Universit\u00e9 de Poitiers - ENSMA, SP2MI, BP30179, 86962 Futuroscope, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802931824","https://openalex.org/I32881790"]},{"raw_affiliation_string":"D\u00e9partement g\u00e9nie m\u00e9canique et syst\u00e8mes complexes, institut pprime, cnrs-universit\u00e9 de poitiers-ensma, sp2mi, bp30179, 86962 futuroscope, france#TAB#","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802931824","https://openalex.org/I32881790"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031640878","display_name":"Patrick Lacouture","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Patrick Lacouture","raw_affiliation_strings":["D\u00e9partement G\u00e9nie M\u00e9canique et Syst\u00e8mes Complexes, Institut Pprime, CNRS - Universit\u00e9 de Poitiers - ENSMA, SP2MI, BP30179, 86962 Futuroscope, France","D\u00e9partement g\u00e9nie m\u00e9canique et syst\u00e8mes complexes, institut pprime, cnrs-universit\u00e9 de poitiers-ensma, sp2mi, bp30179, 86962 futuroscope, france#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"D\u00e9partement G\u00e9nie M\u00e9canique et Syst\u00e8mes Complexes, Institut Pprime, CNRS - Universit\u00e9 de Poitiers - ENSMA, SP2MI, BP30179, 86962 Futuroscope, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802931824","https://openalex.org/I32881790"]},{"raw_affiliation_string":"D\u00e9partement g\u00e9nie m\u00e9canique et syst\u00e8mes complexes, institut pprime, cnrs-universit\u00e9 de poitiers-ensma, sp2mi, bp30179, 86962 futuroscope, france#TAB#","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802931824","https://openalex.org/I32881790"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086937784"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802931824","https://openalex.org/I32881790"],"apc_list":{"value":3550,"currency":"USD","value_usd":3550},"apc_paid":null,"fwci":1.133,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.75947645,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":"29","issue":"2","first_page":"325","last_page":"334"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9761000275611877,"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":"Robotic Locomotion and Control","score":0.9761000275611877,"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/T12290","display_name":"Human Motion and Animation","score":0.019300000742077827,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.0020000000949949026,"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/humanoid-robot-locomotion","display_name":"humanoid locomotion","score":0.7409999966621399},{"id":"https://openalex.org/keywords/gait-imitation","display_name":"gait imitation","score":0.878000020980835},{"id":"https://openalex.org/keywords/human-motion-capture","display_name":"human motion capture","score":0.8569999933242798},{"id":"https://openalex.org/keywords/hrp-2","display_name":"HRP-2","score":0.7850000262260437},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"zero moment point","score":0.8980000019073486},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"inverse kinematics","score":0.7850000262260437},{"id":"https://openalex.org/keywords/foot-trajectory","display_name":"foot trajectory","score":0.4169999957084656},{"id":"https://openalex.org/keywords/double-support-phase","display_name":"double support phase","score":0.7289999723434448},{"id":"https://openalex.org/keywords/balance-control","display_name":"balance control","score":0.5419999957084656},{"id":"https://openalex.org/keywords/human-walking","display_name":"human walking","score":0.41600000858306885},{"id":"https://openalex.org/keywords/joint-trajectory-generation","display_name":"joint trajectory generation","score":0.4180000126361847}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8317738771438599},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.8272168636322021},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6719760894775391},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.653533399105072},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6063024401664734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5997316837310791},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5872019529342651},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5026423931121826},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48593440651893616},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4722173511981964},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.447581022977829},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42910319566726685},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07795795798301697},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574710000172","doi":"https://doi.org/10.1017/s0263574710000172","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574710000172","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-1"],"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320312677","display_name":"International Society of Biomechanics","ror":"https://ror.org/01zs03f78"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1552834083","https://openalex.org/W1993123013","https://openalex.org/W1997861712","https://openalex.org/W2013083050","https://openalex.org/W2033208083","https://openalex.org/W2038218255","https://openalex.org/W2049617391","https://openalex.org/W2058544403","https://openalex.org/W2079510459","https://openalex.org/W2082460657","https://openalex.org/W2082616311","https://openalex.org/W2086801037","https://openalex.org/W2089183718","https://openalex.org/W2127763473","https://openalex.org/W2133859362","https://openalex.org/W2137267908","https://openalex.org/W3088063282"],"related_works":["https://openalex.org/W2050760078","https://openalex.org/W2124548901","https://openalex.org/W2593698338","https://openalex.org/W2170918662","https://openalex.org/W2579361936","https://openalex.org/W1583381927","https://openalex.org/W45807298","https://openalex.org/W2162155086","https://openalex.org/W2404374107","https://openalex.org/W1494650646"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2,161],"presents":[3],"a":[4,11,17,121,130,163,168,170,173,176,179],"method":[5,183],"to":[6,34,138,186],"generate":[7],"humanoid":[8,141,215],"gaits":[9],"from":[10,113],"human":[12,29,44,126,164],"locomotion":[13],"pattern":[14],"recorded":[15],"by":[16,92],"motion":[18,115,157],"capture":[19],"system.":[20],"Thirty":[21],"seven":[22],"reflective":[23],"markers":[24],"were":[25],"fixed":[26],"on":[27,203,212],"the":[28,36,43,47,52,58,66,69,72,79,84,93,101,107,114,117,124,140,146,204,213],"subject":[30,37],"skin":[31],"in":[32,159,172],"order":[33],"get":[35],"whole":[38],"body":[39],"motion.":[40],"To":[41],"reproduce":[42],"gait,":[45],"especially":[46],"toes":[48],"and":[49,54,68,90,152,178,197,199,211],"heel":[50],"contacts,":[51,151],"front":[53],"back":[55],"edges":[56],"of":[57,71,78,116,148,193],"robot's":[59,142],"feet":[60,102],"are":[61,111],"used":[62,189],"as":[63,104,106,120],"support":[64,74],"at":[65],"start":[67],"end":[70],"double":[73],"phase.":[75],"The":[76,155,182],"balance":[77],"robot":[80,118,205,216],"is":[81,136,162],"respected":[82],"using":[83],"zero":[85],"moment":[86],"point":[87],"(ZMP)":[88],"criterion":[89],"confirmed":[91],"simulation":[94],"software":[95],"OPENHRP":[96],"(General":[97],"Robotics,":[98],"Inc\u00ae).":[99],"First,":[100],"trajectory":[103,110,166],"well":[105],"ZMP":[108],"reference":[109],"defined":[112],"controlled":[119],"marionette":[122],"with":[123],"measured":[125],"joint":[127,143,153],"angles.":[128],"Then":[129],"specific":[131],"inverse":[132],"kinematic":[133],"(IK)":[134],"algorithm":[135],"proposed":[137],"find":[139],"trajectories":[144],"respecting":[145],"constraints":[147],"balance,":[149],"floor":[150],"limits.":[154],"studied":[156],"presented":[158],"this":[160],"walking":[165],"containing":[167],"start,":[169],"movement":[171],"straight":[174],"line,":[175],"stop,":[177],"quarter":[180],"turn.":[181],"was":[184],"developed":[185],"be":[187],"easily":[188],"for":[190],"human-like":[191],"robots":[192],"different":[194],"sizes,":[195],"masses,":[196],"structures":[198],"has":[200],"been":[201],"tested":[202],"HRP-2":[206],"(AIST,":[207],"Kawada":[208],"Industries,":[209],"Inc\u00ae)":[210],"small-sized":[214],"HOAP-3":[217],"(Fujitsu":[218],"Automation":[219],"Ltd\u00ae).":[220]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":4}],"updated_date":"2026-10-13T10:08:12.033832","created_date":"2016-06-24T00:00:00"}
