{"id":"https://openalex.org/W2739203437","doi":"https://doi.org/10.1109/humanoids.2017.8246911","title":"Adaptive whole-body manipulation in human-to-humanoid multi-contact motion retargeting","display_name":"Adaptive whole-body manipulation in human-to-humanoid multi-contact motion retargeting","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2739203437","doi":"https://doi.org/10.1109/humanoids.2017.8246911","mag":"2739203437"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2017.8246911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246911","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01569390","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027738512","display_name":"Kazuya Otani","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/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":"Kazuya Otani","raw_affiliation_strings":["CNRS, Loria, UMR 7503, Vandoevre-l\u00e8s-Nancy, France","Inria, Villers-l\u00e8s-Nancy, France","Universit\u00e9 de Lorraine Loria, UMR 7503, Vandoeuvre-l\u00e8s-Nancy, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, Loria, UMR 7503, Vandoevre-l\u00e8s-Nancy, France","institution_ids":["https://openalex.org/I4210121838","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Inria, Villers-l\u00e8s-Nancy, France","institution_ids":["https://openalex.org/I4210127166"]},{"raw_affiliation_string":"Universit\u00e9 de Lorraine Loria, UMR 7503, Vandoeuvre-l\u00e8s-Nancy, France","institution_ids":["https://openalex.org/I90183372","https://openalex.org/I4210121838"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081311040","display_name":"Karim Bouyarmane","orcid":"https://orcid.org/0000-0003-4284-0561"},"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/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":["CNRS, Loria, UMR 7503, Vandoevre-l\u00e8s-Nancy, France","Inria, Villers-l\u00e8s-Nancy, France","Universit\u00e9 de Lorraine Loria, UMR 7503, Vandoeuvre-l\u00e8s-Nancy, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, Loria, UMR 7503, Vandoevre-l\u00e8s-Nancy, France","institution_ids":["https://openalex.org/I4210121838","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Inria, Villers-l\u00e8s-Nancy, France","institution_ids":["https://openalex.org/I4210127166"]},{"raw_affiliation_string":"Universit\u00e9 de Lorraine Loria, UMR 7503, Vandoeuvre-l\u00e8s-Nancy, France","institution_ids":["https://openalex.org/I90183372","https://openalex.org/I4210121838"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4438,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.80625576,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"446","last_page":"453"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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":0.842198371887207},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7837389707565308},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6501380205154419},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6455625295639038},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.53504478931427},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5298770666122437},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5126187205314636},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4788122773170471},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4630133807659149},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4341508448123932},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.42600440979003906},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3717269003391266}],"concepts":[{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.842198371887207},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7837389707565308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6501380205154419},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6455625295639038},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.53504478931427},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5298770666122437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5126187205314636},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4788122773170471},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4630133807659149},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4341508448123932},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.42600440979003906},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3717269003391266},{"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/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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2017.8246911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246911","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01569390v2","is_oa":true,"landing_page_url":"https://hal.science/hal-01569390","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":"HUMANOIDS 2017 - IEEE-RAS International Conference on Humanoid Robots, Nov 2017, Birmingham, United Kingdom. pp.1-8","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01569390v2","is_oa":true,"landing_page_url":"https://hal.science/hal-01569390","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":"HUMANOIDS 2017 - IEEE-RAS International Conference on Humanoid Robots, Nov 2017, Birmingham, United Kingdom. pp.1-8","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1945123189","https://openalex.org/W1964965610","https://openalex.org/W1967607209","https://openalex.org/W1988183163","https://openalex.org/W1994634749","https://openalex.org/W1995199698","https://openalex.org/W2012424743","https://openalex.org/W2020870038","https://openalex.org/W2033403369","https://openalex.org/W2045661150","https://openalex.org/W2061983716","https://openalex.org/W2079520948","https://openalex.org/W2099038500","https://openalex.org/W2099628199","https://openalex.org/W2109026728","https://openalex.org/W2133859362","https://openalex.org/W2157597397","https://openalex.org/W2164288353","https://openalex.org/W2208576078","https://openalex.org/W2229312739","https://openalex.org/W2316891197","https://openalex.org/W2539534359","https://openalex.org/W2570886061","https://openalex.org/W2571249159","https://openalex.org/W2588016079","https://openalex.org/W2602211129","https://openalex.org/W2949819470","https://openalex.org/W4214942353","https://openalex.org/W4293471604","https://openalex.org/W6674850639","https://openalex.org/W6684180196","https://openalex.org/W6688944041"],"related_works":["https://openalex.org/W2461433938","https://openalex.org/W4389483750","https://openalex.org/W2770958975","https://openalex.org/W3186555439","https://openalex.org/W4252049335","https://openalex.org/W2997729061","https://openalex.org/W2541098390","https://openalex.org/W2040988871","https://openalex.org/W4383472651","https://openalex.org/W4386142017"],"abstract_inverted_index":{"We":[0,121,142],"propose":[1],"a":[2,9,12,55,79],"controller":[3],"for":[4],"loco-manipulation":[5,50],"motion":[6,133,139],"retargeting":[7],"from":[8,37,135],"human":[10,119,132],"to":[11,27,42,152,167],"humanoid":[13],"robot.":[14],"Using":[15],"this":[16],"controller,":[17],"the":[18,30,44,63,67,74,83,111,118,148],"robot":[19,68,149],"can":[20],"track":[21],"complex":[22],"motions":[23,156,161],"and":[24,69,95,104],"automatically":[25],"adapt":[26],"elements":[28,169],"in":[29,73,110,117,144],"environment":[31,168],"that":[32,39,147],"have":[33],"different":[34],"physical":[35],"properties":[36],"those":[38],"were":[40],"used":[41],"provide":[43],"human's":[45],"reference":[46],"motion.":[47,120],"The":[48,99],"multi-contact":[49],"problem":[51],"is":[52,150],"formulated":[53],"as":[54,106,157,159],"multi-robot":[56],"quadratic":[57],"program":[58],"(MRQP),":[59],"which":[60],"optimizes":[61],"over":[62],"combined":[64],"dynamics":[65,145],"of":[66,82,170],"any":[70],"manipulated":[71],"element":[72],"environment.":[75],"Our":[76],"approach":[77],"maintains":[78],"dynamic":[80],"partition":[81],"robot's":[84],"tracking":[85,97],"links":[86],"into":[87],"fixed":[88],"support":[89],"contact":[90,93,114],"links,":[91,94],"manipulation":[92],"contact-free":[96],"links.":[98],"three":[100],"sets":[101],"are":[102],"repartitioned":[103],"re-instantiated":[105],"objectives":[107],"or":[108],"constraints":[109],"MRQP":[112],"when":[113],"events":[115],"occur":[116],"present":[122],"various":[123],"experiments":[124],"(bag":[125],"retrieval,":[126],"door":[127],"opening,":[128],"box":[129],"lifting)":[130],"using":[131],"data":[134],"an":[136],"Xsens":[137],"inertial":[138,172],"capture":[140],"system.":[141],"show":[143],"simulation":[146],"able":[151],"perform":[153],"difficult":[154],"single-stance":[155],"well":[158],"multi-contact-stance":[160],"(including":[162],"hand":[163],"supports),":[164],"while":[165],"adapting":[166],"varying":[171],"properties.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}