{"id":"https://openalex.org/W2097281655","doi":"https://doi.org/10.1109/cdc.2007.4434799","title":"Generating human-like motions for an underactuated three-link robot based on the virtual constraints approach","display_name":"Generating human-like motions for an underactuated three-link robot based on the virtual constraints approach","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2097281655","doi":"https://doi.org/10.1109/cdc.2007.4434799","mag":"2097281655"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2007.4434799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434799","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-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/A5061208883","display_name":"Uwe Mettin","orcid":null},"institutions":[{"id":"https://openalex.org/I90267481","display_name":"Ume\u00e5 University","ror":"https://ror.org/05kb8h459","country_code":"SE","type":"education","lineage":["https://openalex.org/I90267481"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Uwe Mettin","raw_affiliation_strings":["Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","Ume\u00e5 University, Ume\u00e5#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","institution_ids":["https://openalex.org/I90267481"]},{"raw_affiliation_string":"Ume\u00e5 University, Ume\u00e5#TAB#","institution_ids":["https://openalex.org/I90267481"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014565051","display_name":"Pedro La Hera","orcid":"https://orcid.org/0000-0002-5032-5087"},"institutions":[{"id":"https://openalex.org/I90267481","display_name":"Ume\u00e5 University","ror":"https://ror.org/05kb8h459","country_code":"SE","type":"education","lineage":["https://openalex.org/I90267481"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Pedro La Hera","raw_affiliation_strings":["Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","Ume\u00e5 University, Ume\u00e5#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","institution_ids":["https://openalex.org/I90267481"]},{"raw_affiliation_string":"Ume\u00e5 University, Ume\u00e5#TAB#","institution_ids":["https://openalex.org/I90267481"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042747240","display_name":"Leonid B. Freidovich","orcid":"https://orcid.org/0000-0003-0730-9441"},"institutions":[{"id":"https://openalex.org/I90267481","display_name":"Ume\u00e5 University","ror":"https://ror.org/05kb8h459","country_code":"SE","type":"education","lineage":["https://openalex.org/I90267481"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Leonid Freidovich","raw_affiliation_strings":["Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","Ume\u00e5 University, Ume\u00e5#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","institution_ids":["https://openalex.org/I90267481"]},{"raw_affiliation_string":"Ume\u00e5 University, Ume\u00e5#TAB#","institution_ids":["https://openalex.org/I90267481"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044859972","display_name":"Anton Shiriaev","orcid":"https://orcid.org/0000-0002-9404-6442"},"institutions":[{"id":"https://openalex.org/I90267481","display_name":"Ume\u00e5 University","ror":"https://ror.org/05kb8h459","country_code":"SE","type":"education","lineage":["https://openalex.org/I90267481"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anton Shiriaev","raw_affiliation_strings":["Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","Ume\u00e5 University, Ume\u00e5#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Applied Physics and Electronics, Ume\u00e5 University, Umea, Sweden","institution_ids":["https://openalex.org/I90267481"]},{"raw_affiliation_string":"Ume\u00e5 University, Ume\u00e5#TAB#","institution_ids":["https://openalex.org/I90267481"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5061208883"],"corresponding_institution_ids":["https://openalex.org/I90267481"],"apc_list":null,"apc_paid":null,"fwci":1.0445,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.78223758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5138","last_page":"5143"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9957000017166138,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9817000031471252,"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/underactuation","display_name":"Underactuation","score":0.7804316282272339},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6606724262237549},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6523663997650146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6072679162025452},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5657392740249634},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5283841490745544},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5108232498168945},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4937687814235687},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48079219460487366},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46404144167900085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45156434178352356},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4336673617362976},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42164739966392517},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.41343575716018677},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20381271839141846},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12077602744102478}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7804316282272339},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6606724262237549},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6523663997650146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6072679162025452},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5657392740249634},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5283841490745544},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5108232498168945},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4937687814235687},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48079219460487366},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46404144167900085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45156434178352356},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4336673617362976},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42164739966392517},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.41343575716018677},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20381271839141846},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12077602744102478},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2007.4434799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434799","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1877449765","https://openalex.org/W1967772980","https://openalex.org/W1974845375","https://openalex.org/W1982961388","https://openalex.org/W1989976554","https://openalex.org/W2030515455","https://openalex.org/W2045992114","https://openalex.org/W2092535029","https://openalex.org/W2104006001","https://openalex.org/W2113966452","https://openalex.org/W2125098927","https://openalex.org/W2128131727","https://openalex.org/W2132347660","https://openalex.org/W2137547873","https://openalex.org/W2149224990","https://openalex.org/W2161942114","https://openalex.org/W2174809691","https://openalex.org/W6639317388","https://openalex.org/W6642451928"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W2745063183","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W4386597929","https://openalex.org/W2045350889"],"abstract_inverted_index":{"In":[0,19],"the":[1,33,63,106,123],"field":[2],"of":[3,35,68,77,89,101,115,142],"robotics":[4],"there":[5],"is":[6,96,129,136],"a":[7,46,69,78,117,143],"great":[8],"interest":[9],"in":[10,52,120],"developing":[11],"strategies":[12],"and":[13,26],"algorithms":[14],"to":[15,54,75,122],"reproduce":[16],"human-like":[17],"behavior.":[18],"this":[20,40],"paper,":[21],"we":[22],"consider":[23],"motion":[24,49,94,126],"planning":[25,95],"generation":[27],"for":[28],"humanoid":[29],"robots":[30],"based":[31,85],"on":[32,86],"concept":[34],"virtual":[36,107],"holonomic":[37,108],"constraints.":[38],"For":[39],"purpose,":[41],"recorded":[42],"kinematic":[43],"data":[44,88],"from":[45],"particular":[47],"human":[48,71,125],"are":[50,110],"analyzed":[51],"order":[53],"extract":[55],"geometric":[56],"relations":[57],"among":[58],"various":[59],"joint":[60],"angles":[61],"defining":[62],"instantaneous":[64],"postures.":[65],"The":[66,93,113],"analysis":[67],"simplified":[70],"body":[72],"representation":[73],"leads":[74],"dynamics":[76,104],"corresponding":[79],"underactuated":[80],"mechanical":[81],"system":[82,103],"with":[83,139],"parameters":[84],"anthropometric":[87],"an":[90],"average":[91],"person.":[92],"realized":[97],"by":[98],"considering":[99],"solutions":[100],"reduced":[102],"assuming":[105],"constraints":[109],"kept":[111],"invariant.":[112],"relevance":[114],"such":[116],"mathematical":[118],"model":[119],"accordance":[121],"real":[124],"under":[127],"study":[128],"shown.":[130],"An":[131],"appropriate":[132],"controller":[133],"design":[134],"procedure":[135],"presented":[137],"together":[138],"simulation":[140],"results":[141],"feedback-controlled":[144],"robot.":[145]},"counts_by_year":[{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
