{"id":"https://openalex.org/W2571249159","doi":"https://doi.org/10.1109/humanoids.2016.7803405","title":"Multi-contact motion retargeting from human to humanoid robot","display_name":"Multi-contact motion retargeting from human to humanoid robot","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2571249159","doi":"https://doi.org/10.1109/humanoids.2016.7803405","mag":"2571249159"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01414986","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043572616","display_name":"Alessandro Di Fava","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Di Fava","raw_affiliation_strings":["Scuola Superiore Sant'Anna di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081311040","display_name":"Karim Bouyarmane","orcid":"https://orcid.org/0000-0003-4284-0561"},"institutions":[{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I4210127166","display_name":"Centre Inria de l'Universit\u00e9 de Lorraine","ror":"https://ror.org/03fcjvn64","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210127166"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Karim Bouyarmane","raw_affiliation_strings":["Inria, Villers-l\u00e8s-Nancy, France","University of Lorraine, Loria UMR 7503, Vand\u0153uvre-l\u00e8s-Nancy, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, Villers-l\u00e8s-Nancy, France","institution_ids":["https://openalex.org/I4210127166"]},{"raw_affiliation_string":"University of Lorraine, Loria UMR 7503, Vand\u0153uvre-l\u00e8s-Nancy, France","institution_ids":["https://openalex.org/I4210121838","https://openalex.org/I90183372"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043527634","display_name":"K\u00e9vin Chappellet","orcid":"https://orcid.org/0000-0001-8041-3160"},"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/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Kevin Chappellet","raw_affiliation_strings":["CNRS University of Montpellier, LIRMM, Montpellier Cedex 5, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS University of Montpellier, LIRMM, Montpellier Cedex 5, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013063952","display_name":"Emanuele Ruffaldi","orcid":"https://orcid.org/0000-0001-6084-6938"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Emanuele Ruffaldi","raw_affiliation_strings":["Scuola Superiore Sant'Anna di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067136188","display_name":"Abderrahmane Kheddar","orcid":"https://orcid.org/0000-0001-9033-9742"},"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/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["FR","JP"],"is_corresponding":false,"raw_author_name":"Abderrahmane Kheddar","raw_affiliation_strings":["CNRS University of Montpellier, LIRMM, Montpellier Cedex 5, France","CNRS-AIST JRL, UMI3218/RL, Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS University of Montpellier, LIRMM, Montpellier Cedex 5, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"CNRS-AIST JRL, UMI3218/RL, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1081","last_page":"1086"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9819999933242798,"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/retargeting","display_name":"Retargeting","score":0.9384397268295288},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8494478464126587},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6850873827934265},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6324433088302612},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6223418712615967},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5908861756324768},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5820472836494446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5608819723129272},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5324196815490723},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3623044192790985},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3327496647834778},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19164985418319702}],"concepts":[{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.9384397268295288},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8494478464126587},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6850873827934265},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6324433088302612},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6223418712615967},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5908861756324768},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5820472836494446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5608819723129272},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5324196815490723},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3623044192790985},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3327496647834778},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19164985418319702},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/humanoids.2016.7803405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01414986v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01414986","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":"http://www.humanoids2016.org","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:www.iris.sssup.it:11382/514801","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/514801","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01414986v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01414986","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":"http://www.humanoids2016.org","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7265238591","display_name":"Cutting-edge multi-contact behaviors","funder_award_id":"16H02886","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W603930492","https://openalex.org/W1215311137","https://openalex.org/W1967607209","https://openalex.org/W1968077281","https://openalex.org/W1990654347","https://openalex.org/W2012424743","https://openalex.org/W2070736631","https://openalex.org/W2087441489","https://openalex.org/W2087485438","https://openalex.org/W2095143145","https://openalex.org/W2096498654","https://openalex.org/W2109026728","https://openalex.org/W2112337604","https://openalex.org/W2120693140","https://openalex.org/W2129409588","https://openalex.org/W2137650055","https://openalex.org/W2144248494","https://openalex.org/W2148939146","https://openalex.org/W2152897124","https://openalex.org/W2255696229","https://openalex.org/W2316891197","https://openalex.org/W2545385919","https://openalex.org/W3144286684","https://openalex.org/W3147253688","https://openalex.org/W6628228489"],"related_works":["https://openalex.org/W2461433938","https://openalex.org/W4389483750","https://openalex.org/W2770958975","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151","https://openalex.org/W4388184571","https://openalex.org/W1573525351"],"abstract_inverted_index":{"We":[0,147],"propose":[1],"a":[2,11,16,38,47,57,61,138,149,160],"framework":[3,31,90],"for":[4,46,56,97,115,155,164],"real-time":[5],"online":[6,95,157],"and":[7,27,110,159],"offline":[8,113,166],"retargeting":[9],"of":[10,43,50,83,86,105,119,133],"human":[12,122],"actor":[13],"motion":[14,19,100,123,140],"to":[15,67,127,168],"humanoid":[17],"robot":[18,151],"involving":[20],"multi-contact":[21,39,63],"configuration":[22,108],"changes":[23],"between":[24],"the":[25,35,52,78,81,84,87,103,117,120,131,144,156,165,170],"human/humanoid":[26],"their":[28],"environments.":[29],"The":[30,89],"is":[32,91,125],"based":[33],"on":[34,77],"specification":[36],"within":[37],"QP":[40],"control":[41],"formulation":[42],"tracking":[44,101,116,145],"tasks":[45],"selected":[48],"set":[49],"body-segments/links,":[51],"ones":[53],"either":[54],"used":[55,69],"manipulation":[58],"task":[59],"from":[60,129],"fixed":[62],"stance":[64],"or":[65,73],"susceptible":[66],"be":[68],"as":[70,74,137],"contact":[71,107,134],"supports":[72,76],"locomotion":[75],"environment":[79],"in":[80,93,111],"course":[82],"execution":[85],"motion.":[88],"applied":[92],"an":[94,112],"setting":[96,114,158,167],"simultaneous":[98],"human-robot":[99],"(in":[102],"case":[104],"no":[106],"change)":[109],"playback":[118],"recorded":[121],"that":[124],"pre-processed":[126],"extract":[128],"it":[130],"sequence":[132],"change":[135],"events":[136],"necessary":[139],"information":[141],"exploited":[142],"by":[143],"algorithm.":[146],"present":[148],"real":[150],"experiment":[152,163],"with":[153],"HRP-4":[154],"dynamics":[161],"simulation":[162],"validate":[169],"proposed":[171],"approach.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2017-01-13T00:00:00"}