{"id":"https://openalex.org/W3033201140","doi":"https://doi.org/10.1109/biorob49111.2020.9224427","title":"Anthropomorphic Gait Generation using Differential Dynamic Programming with a Reduced Number of Cost Criteria","display_name":"Anthropomorphic Gait Generation using Differential Dynamic Programming with a Reduced Number of Cost Criteria","publication_year":2020,"publication_date":"2020-10-15","ids":{"openalex":"https://openalex.org/W3033201140","doi":"https://doi.org/10.1109/biorob49111.2020.9224427","mag":"3033201140"},"language":"en","primary_location":{"id":"doi:10.1109/biorob49111.2020.9224427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob49111.2020.9224427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://laas.hal.science/hal-02615813","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007671305","display_name":"Melya Boukheddimi","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/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"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/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Melya Boukheddimi","raw_affiliation_strings":["CNRS, UPS, France 7 Avenue du Colonel Roche, LAAS-CNRS, Universit\u00e8 de Toulouse, Toulouse, France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"CNRS, UPS, France 7 Avenue du Colonel Roche, LAAS-CNRS, Universit\u00e8 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"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/A5065938528","display_name":"Rohan Budhiraja","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/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rohan Budhiraja","raw_affiliation_strings":["LAAS-CNRS, 7 Avenue du Colonel Roche, Toulouse, France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, 7 Avenue du Colonel Roche, 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/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/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Soueres","raw_affiliation_strings":["LAAS-CNRS, 7 Avenue du Colonel Roche, Toulouse, France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, 7 Avenue du Colonel Roche, 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":"last","author":{"id":"https://openalex.org/A5011316265","display_name":"Bruno Watier","orcid":"https://orcid.org/0000-0003-3146-2884"},"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/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"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/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Bruno Watier","raw_affiliation_strings":["CNRS, UPS, France 7 Avenue du Colonel Roche, LAAS-CNRS, Universit\u00e8 de Toulouse, Toulouse, France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"CNRS, UPS, France 7 Avenue du Colonel Roche, LAAS-CNRS, Universit\u00e8 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5007671305"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":0.0871,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.38605566,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1036","last_page":"1042"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9861999750137329,"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":0.9824000000953674,"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/gait","display_name":"Gait","score":0.7762502431869507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6655583381652832},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.6537016034126282},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6357927918434143},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5875632166862488},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5383148789405823},{"id":"https://openalex.org/keywords/differential-evolution","display_name":"Differential evolution","score":0.5073637366294861},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.48412880301475525},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.4675392508506775},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.41303664445877075},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40838873386383057},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3560468554496765},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34984874725341797},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.2366209626197815},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17328748106956482},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06115123629570007}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7762502431869507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6655583381652832},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.6537016034126282},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6357927918434143},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5875632166862488},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5383148789405823},{"id":"https://openalex.org/C74750220","wikidata":"https://www.wikidata.org/wiki/Q2662197","display_name":"Differential evolution","level":2,"score":0.5073637366294861},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.48412880301475525},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.4675392508506775},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.41303664445877075},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40838873386383057},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3560468554496765},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34984874725341797},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2366209626197815},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17328748106956482},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06115123629570007},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum 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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/biorob49111.2020.9224427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob49111.2020.9224427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02615813v1","is_oa":true,"landing_page_url":"https://laas.hal.science/hal-02615813","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":"https://biorob2020nyc.org/","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02615813v1","is_oa":true,"landing_page_url":"https://laas.hal.science/hal-02615813","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":"https://biorob2020nyc.org/","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W28293053","https://openalex.org/W618254468","https://openalex.org/W1608456742","https://openalex.org/W1964965610","https://openalex.org/W1972148528","https://openalex.org/W1975537977","https://openalex.org/W1996117239","https://openalex.org/W2001165022","https://openalex.org/W2003365181","https://openalex.org/W2018571963","https://openalex.org/W2024068956","https://openalex.org/W2024722516","https://openalex.org/W2032391634","https://openalex.org/W2036407851","https://openalex.org/W2097723835","https://openalex.org/W2106194774","https://openalex.org/W2108341823","https://openalex.org/W2130281033","https://openalex.org/W2133220762","https://openalex.org/W2166779744","https://openalex.org/W2319890895","https://openalex.org/W2413608038","https://openalex.org/W2470342634","https://openalex.org/W2503343795","https://openalex.org/W2596329897","https://openalex.org/W2605564084","https://openalex.org/W2765156464","https://openalex.org/W2897806808","https://openalex.org/W2898868201","https://openalex.org/W2899555799","https://openalex.org/W2906487027","https://openalex.org/W2964508341","https://openalex.org/W3002302811","https://openalex.org/W3081791272","https://openalex.org/W3098680447","https://openalex.org/W4205985701","https://openalex.org/W4214942353","https://openalex.org/W4242613534","https://openalex.org/W4256615025","https://openalex.org/W6601131878","https://openalex.org/W6755983447"],"related_works":["https://openalex.org/W2133973503","https://openalex.org/W3156454664","https://openalex.org/W2471060339","https://openalex.org/W4236844032","https://openalex.org/W2148547327","https://openalex.org/W4226236273","https://openalex.org/W2125892956","https://openalex.org/W2790560349","https://openalex.org/W2130975749","https://openalex.org/W2493973380"],"abstract_inverted_index":{"Bipedal":[0],"gait":[1,24,134],"is":[2,11,39,79,147],"the":[3,15,20,32,36,40,55,61,64,73,125,130,133],"natural":[4],"means":[5],"of":[6,42,51,57,63,93,132,139],"human":[7,37,58,74,126],"locomotion.":[8],"Nonetheless,":[9],"it":[10],"still":[12],"unclear":[13],"how":[14],"central":[16],"nervous":[17],"system":[18],"coordinates":[19],"whole-body":[21,87],"segments":[22],"for":[23,143],"generation.":[25],"We":[26,46],"address":[27],"this":[28,113,140],"question":[29],"based":[30],"on":[31,81],"wellknown":[33],"hypothesis":[34],"that":[35],"motion":[38,107,145],"result":[41],"an":[43],"optimization":[44,141],"process.":[45,136],"consider":[47],"a":[48,85],"reduced":[49],"set":[50],"criteria":[52,83],"taken":[53],"from":[54,106],"observation":[56],"walking":[59,97,117],"and":[60,103,122],"study":[62],"related":[65],"literature,":[66],"which":[67],"seem":[68],"to":[69,95,112,124,128],"be":[70],"optimized":[71],"during":[72],"gait.":[75],"Differential":[76],"Dynamic":[77],"Programming":[78],"applied":[80],"these":[82],"with":[84],"3D":[86],"skeletal":[88,101],"model":[89],"involving":[90],"42":[91],"degrees":[92],"freedom":[94],"generate":[96],"motions.":[98],"Nine":[99],"different":[100],"models":[102],"gaits":[104],"reconstructed":[105],"capture":[108],"data":[109],"are":[110,119],"used":[111],"end.":[114],"The":[115,137],"simulated":[116],"motions":[118],"then":[120],"analyzed":[121],"compared":[123],"reference":[127],"show":[129],"quality":[131],"generation":[135,146],"interest":[138],"approach":[142],"human-like":[144],"finally":[148],"discussed.":[149]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}