{"id":"https://openalex.org/W2037997802","doi":"https://doi.org/10.1007/s10514-009-9170-7","title":"From human to humanoid locomotion\u2014an inverse optimal control approach","display_name":"From human to humanoid locomotion\u2014an inverse optimal control approach","publication_year":2009,"publication_date":"2009-12-30","ids":{"openalex":"https://openalex.org/W2037997802","doi":"https://doi.org/10.1007/s10514-009-9170-7","mag":"2037997802"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-009-9170-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-009-9170-7","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"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/A5042406934","display_name":"Katja Mombaur","orcid":"https://orcid.org/0000-0003-1353-0943"},"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/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Katja Mombaur","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, 7 ave du Colonel Roche, 31077, Toulouse, France","LAAS-CNRS, Universit\u00e9 de Toulouse, Toulouse, France 31077#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, 7 ave du Colonel Roche, 31077, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, Toulouse, France 31077#TAB#","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102856421","display_name":"Anh Truong","orcid":"https://orcid.org/0009-0001-9443-148X"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Anh Truong","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, 7 ave du Colonel Roche, 31077, Toulouse, France","LAAS-CNRS, Universit\u00e9 de Toulouse, Toulouse, France 31077#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, 7 ave du Colonel Roche, 31077, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, Toulouse, France 31077#TAB#","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108497455","display_name":"Jean\u2010Paul Laumond","orcid":null},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Paul Laumond","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, 7 ave du Colonel Roche, 31077, Toulouse, France","LAAS-CNRS, Universit\u00e9 de Toulouse, Toulouse, France 31077#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, 7 ave du Colonel Roche, 31077, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, Toulouse, France 31077#TAB#","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042406934"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349","https://openalex.org/I190497903"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":5.2798,"has_fulltext":false,"cited_by_count":428,"citation_normalized_percentile":{"value":0.95525107,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"28","issue":"3","first_page":"369","last_page":"383"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9800000190734863,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9696999788284302,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.8088186979293823},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7359617948532104},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5830496549606323},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5574668049812317},{"id":"https://openalex.org/keywords/inverse-problem","display_name":"Inverse problem","score":0.5410612225532532},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4927511513233185},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4834364652633667},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4829768240451813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46057629585266113},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43471038341522217},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4157702922821045},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19054362177848816},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18856185674667358}],"concepts":[{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.8088186979293823},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7359617948532104},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5830496549606323},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5574668049812317},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.5410612225532532},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4927511513233185},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4834364652633667},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4829768240451813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46057629585266113},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43471038341522217},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4157702922821045},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19054362177848816},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18856185674667358},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10514-009-9170-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-009-9170-7","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320881","display_name":"Universit\u00e4t Heidelberg","ror":"https://ror.org/038t36y30"},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320322892","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W137679310","https://openalex.org/W217831350","https://openalex.org/W333567270","https://openalex.org/W1424654272","https://openalex.org/W1480456688","https://openalex.org/W1501180370","https://openalex.org/W1553616171","https://openalex.org/W1562460111","https://openalex.org/W1587698905","https://openalex.org/W1885639605","https://openalex.org/W1969354366","https://openalex.org/W1979134936","https://openalex.org/W1982369156","https://openalex.org/W1997576152","https://openalex.org/W2025915818","https://openalex.org/W2029015512","https://openalex.org/W2029058516","https://openalex.org/W2029517350","https://openalex.org/W2041461390","https://openalex.org/W2048903599","https://openalex.org/W2052023461","https://openalex.org/W2088677124","https://openalex.org/W2098499401","https://openalex.org/W2100615611","https://openalex.org/W2110194613","https://openalex.org/W2112808334","https://openalex.org/W2123236823","https://openalex.org/W2125356896","https://openalex.org/W2128483493","https://openalex.org/W2129373410","https://openalex.org/W2133859362","https://openalex.org/W2138849538","https://openalex.org/W2143412436","https://openalex.org/W2154355760","https://openalex.org/W2155382668","https://openalex.org/W2158794687","https://openalex.org/W2166162370","https://openalex.org/W2169814710","https://openalex.org/W2171074980","https://openalex.org/W2337854973","https://openalex.org/W2501036878","https://openalex.org/W2611243847","https://openalex.org/W2983916874","https://openalex.org/W4231147659","https://openalex.org/W4242811155","https://openalex.org/W6611538770","https://openalex.org/W6785452155"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2543019745","https://openalex.org/W2295425790","https://openalex.org/W1991876829","https://openalex.org/W2218699221","https://openalex.org/W2331917905","https://openalex.org/W4285133152","https://openalex.org/W3155039083"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":36},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":36},{"year":2021,"cited_by_count":41},{"year":2020,"cited_by_count":33},{"year":2019,"cited_by_count":25},{"year":2018,"cited_by_count":47},{"year":2017,"cited_by_count":44},{"year":2016,"cited_by_count":34},{"year":2015,"cited_by_count":25},{"year":2014,"cited_by_count":26},{"year":2013,"cited_by_count":16},{"year":2012,"cited_by_count":13}],"updated_date":"2026-05-29T09:21:14.243279","created_date":"2025-10-10T00:00:00"}
