{"id":"https://openalex.org/W2495396858","doi":"https://doi.org/10.1109/biorob.2016.7523606","title":"Robust human-inspired power law trajectories for humanoid HRP-2 robot","display_name":"Robust human-inspired power law trajectories for humanoid HRP-2 robot","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2495396858","doi":"https://doi.org/10.1109/biorob.2016.7523606","mag":"2495396858"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523606","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523606","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://laas.hal.science/hal-02002597","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032817377","display_name":"Matan Karklinsky","orcid":null},"institutions":[{"id":"https://openalex.org/I53964585","display_name":"Weizmann Institute of Science","ror":"https://ror.org/0316ej306","country_code":"IL","type":"education","lineage":["https://openalex.org/I53964585"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"M. Karklinsky","raw_affiliation_strings":["Weizmann Institute of Science, Rehovot, Israel","Weizmann Institute of Science [Rehovot, Isra\u00ebl] (234 Herzl Street, Rehovot 7610001 - Isra\u00ebl)"],"affiliations":[{"raw_affiliation_string":"Weizmann Institute of Science, Rehovot, Israel","institution_ids":["https://openalex.org/I53964585"]},{"raw_affiliation_string":"Weizmann Institute of Science [Rehovot, Isra\u00ebl] (234 Herzl Street, Rehovot 7610001 - Isra\u00ebl)","institution_ids":["https://openalex.org/I53964585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112200941","display_name":"M. Naveau","orcid":null},"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/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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Naveau","raw_affiliation_strings":["LAAS, CNRS, Toulouse, France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075203357","display_name":"Albert Mukovskiy","orcid":null},"institutions":[{"id":"https://openalex.org/I4210133934","display_name":"Bernstein Center for Computational Neuroscience T\u00fcbingen","ror":"https://ror.org/03kfnwp54","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210092532","https://openalex.org/I4210133934"]},{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Mukovskiy","raw_affiliation_strings":["CIN, University Clinic T\u00fcbingen, Germany","University of T\u00fcbingen (Allemagne)"],"affiliations":[{"raw_affiliation_string":"CIN, University Clinic T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733","https://openalex.org/I4210133934"]},{"raw_affiliation_string":"University of T\u00fcbingen (Allemagne)","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071048560","display_name":"Olivier Stasse","orcid":"https://orcid.org/0000-0001-8569-6155"},"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/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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"O. Stasse","raw_affiliation_strings":["LAAS, CNRS, Toulouse, France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012529469","display_name":"Tamar Flash","orcid":"https://orcid.org/0000-0002-5142-8942"},"institutions":[{"id":"https://openalex.org/I53964585","display_name":"Weizmann Institute of Science","ror":"https://ror.org/0316ej306","country_code":"IL","type":"education","lineage":["https://openalex.org/I53964585"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"T. Flash","raw_affiliation_strings":["Weizmann Institute of Science, Rehovot, Israel","Weizmann Institute of Science [Rehovot, Isra\u00ebl] (234 Herzl Street, Rehovot 7610001 - Isra\u00ebl)"],"affiliations":[{"raw_affiliation_string":"Weizmann Institute of Science, Rehovot, Israel","institution_ids":["https://openalex.org/I53964585"]},{"raw_affiliation_string":"Weizmann Institute of Science [Rehovot, Isra\u00ebl] (234 Herzl Street, Rehovot 7610001 - Isra\u00ebl)","institution_ids":["https://openalex.org/I53964585"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014128188","display_name":"Philippe Sou\u00e8res","orcid":"https://orcid.org/0000-0001-9064-4405"},"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/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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Soueres","raw_affiliation_strings":["LAAS, CNRS, Toulouse, France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5032817377"],"corresponding_institution_ids":["https://openalex.org/I53964585"],"apc_list":null,"apc_paid":null,"fwci":0.6996,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.71857023,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"106","last_page":"113"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.991599977016449,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9898999929428101,"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/trajectory","display_name":"Trajectory","score":0.7430688142776489},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6827710270881653},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6131806373596191},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.5427892208099365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5252195000648499},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4412727952003479},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42019641399383545},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.42012113332748413},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2433483600616455},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21859070658683777},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1962364912033081},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15452709794044495},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09773716330528259}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7430688142776489},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6827710270881653},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6131806373596191},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.5427892208099365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5252195000648499},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4412727952003479},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42019641399383545},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.42012113332748413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2433483600616455},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21859070658683777},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1962364912033081},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15452709794044495},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09773716330528259},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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":2,"locations":[{"id":"doi:10.1109/biorob.2016.7523606","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523606","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02002597v1","is_oa":true,"landing_page_url":"https://laas.hal.science/hal-02002597","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), IEEE, Jun 2016, Singapour, Singapore. 8p., ⟨10.1109/BIOROB.2016.7523606⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02002597v1","is_oa":true,"landing_page_url":"https://laas.hal.science/hal-02002597","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), IEEE, Jun 2016, Singapour, Singapore. 8p., ⟨10.1109/BIOROB.2016.7523606⟩","raw_type":"Conference papers"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8399999737739563,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W61594866","https://openalex.org/W1029662558","https://openalex.org/W1514910877","https://openalex.org/W1515619039","https://openalex.org/W1709231687","https://openalex.org/W1885639605","https://openalex.org/W1963830580","https://openalex.org/W1964305901","https://openalex.org/W1975034354","https://openalex.org/W1980440818","https://openalex.org/W1987474762","https://openalex.org/W2008825549","https://openalex.org/W2008886640","https://openalex.org/W2015149365","https://openalex.org/W2016715509","https://openalex.org/W2032375919","https://openalex.org/W2032541820","https://openalex.org/W2041563141","https://openalex.org/W2067193840","https://openalex.org/W2067514655","https://openalex.org/W2080402214","https://openalex.org/W2083990312","https://openalex.org/W2084959384","https://openalex.org/W2086853455","https://openalex.org/W2094369765","https://openalex.org/W2095143145","https://openalex.org/W2101326670","https://openalex.org/W2117542593","https://openalex.org/W2134889984","https://openalex.org/W2135234927","https://openalex.org/W2137085769","https://openalex.org/W2145943593","https://openalex.org/W2148245001","https://openalex.org/W2153069809","https://openalex.org/W2154355760","https://openalex.org/W2170620126","https://openalex.org/W2294846656","https://openalex.org/W2294982174","https://openalex.org/W2323213665","https://openalex.org/W2333533581","https://openalex.org/W2415458238","https://openalex.org/W4230474555","https://openalex.org/W4242869689","https://openalex.org/W6680534402","https://openalex.org/W6681755348","https://openalex.org/W6682564320","https://openalex.org/W6684816303","https://openalex.org/W6696773544","https://openalex.org/W6702834881"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2026275902","https://openalex.org/W2903025760","https://openalex.org/W2018658498","https://openalex.org/W2100910774"],"abstract_inverted_index":{"The":[0,82],"one-third":[1,46,107,150],"power":[2,47,73,108,119,132,151],"law":[3,23,48,74,133,152],"models":[4],"how":[5],"human":[6],"speed":[7,49,116],"of":[8,20,86,130,142],"motion":[9],"depends":[10],"on":[11,123,163],"the":[12,18,106,136,140,143,149,161,164],"path's":[13],"curvature.":[14],"This":[15],"paper":[16],"studies":[17],"interest":[19],"using":[21],"this":[22],"for":[24,174],"humanoid":[25,37],"robot":[26],"walking":[27,83],"control":[28,144],"along":[29,94],"a":[30,40,72,78,127],"planar":[31],"reference":[32,41,61,137],"trajectory.":[33,81],"We":[34,146],"predicted":[35],"that":[36,148],"robots":[38],"following":[39],"trajectory":[42],"may":[43],"benefit":[44],"from":[45,135],"profiles":[50],"by":[51],"reducing":[52],"closed-loop":[53],"drift":[54,104,129],"and":[55,117,158],"energy":[56],"consumption.":[57],"To":[58],"robustly":[59],"execute":[60],"trajectories,":[62],"we":[63,100],"use":[64],"contracting":[65],"morphed":[66],"Andronov-Hopf":[67],"oscillators,":[68],"regularized":[69],"to":[70,77,92],"follow":[71],"while":[75],"converging":[76],"planned":[79],"cyclic":[80],"pattern":[84],"generator":[85],"HRP-2":[87,124],"uses":[88],"these":[89],"guiding":[90],"dynamics":[91],"walk":[93],"elliptic":[95],"trajectories.":[96],"In":[97],"dynamic":[98],"simulation,":[99],"observe":[101,147],"minimal":[102],"geometric":[103],"with":[105,114],"law,":[109],"demonstrating":[110],"increased":[111],"precision":[112],"compared":[113],"constant":[115],"other":[118],"laws.":[120],"Closed-loop":[121],"experiments":[122],"result":[125],"in":[126,167],"small":[128],"all":[131],"motions":[134],"trajectory,":[138],"showing":[139],"efficiency":[141],"architecture.":[145],"controller":[153],"demands":[154],"less":[155],"compensatory":[156],"action,":[157],"therefore":[159],"lowers":[160],"burden":[162],"hardware.":[165],"Slowing":[166],"curved":[168],"movement":[169],"regions":[170],"also":[171],"unexpectedly":[172],"allows":[173],"faster":[175],"overall":[176],"movement.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}