{"id":"https://openalex.org/W2098516422","doi":"https://doi.org/10.1109/ichr.2008.4755984","title":"Motion capture based human motion recognition and imitation by direct marker control","display_name":"Motion capture based human motion recognition and imitation by direct marker control","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W2098516422","doi":"https://doi.org/10.1109/ichr.2008.4755984","mag":"2098516422"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2008.4755984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2008.4755984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=822407","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Japan","Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088081800","display_name":"Dongheui Lee","orcid":"https://orcid.org/0000-0003-1897-7664"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Dongheui Lee","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Japan","Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiko Nakamura","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Japan","Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":121,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"399","last_page":"405"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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/T12290","display_name":"Human Motion and Animation","score":0.9994000196456909,"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":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8696480989456177},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6905181407928467},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6441934108734131},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6231249570846558},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6220546960830688},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.586086094379425},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5256508588790894},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5211824774742126},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5001528263092041},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.49744370579719543},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4864956736564636},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.48069339990615845},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.45597824454307556},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19604912400245667},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10396403074264526}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8696480989456177},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6905181407928467},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6441934108734131},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6231249570846558},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6220546960830688},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.586086094379425},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5256508588790894},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5211824774742126},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5001528263092041},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.49744370579719543},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4864956736564636},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.48069339990615845},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.45597824454307556},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19604912400245667},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10396403074264526},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ichr.2008.4755984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2008.4755984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/822407","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=822407","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/822407","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=822407","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320312388","display_name":"IRT Foundation","ror":"https://ror.org/053a16167"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W7050286","https://openalex.org/W88700168","https://openalex.org/W1486632395","https://openalex.org/W1547215941","https://openalex.org/W1564897360","https://openalex.org/W1911555007","https://openalex.org/W1939926247","https://openalex.org/W1982486572","https://openalex.org/W1989477529","https://openalex.org/W1997401004","https://openalex.org/W2026630573","https://openalex.org/W2084399420","https://openalex.org/W2101318683","https://openalex.org/W2101950184","https://openalex.org/W2109026728","https://openalex.org/W2109385289","https://openalex.org/W2112474089","https://openalex.org/W2125838338","https://openalex.org/W2126683783","https://openalex.org/W2128103053","https://openalex.org/W2128483493","https://openalex.org/W2130726249","https://openalex.org/W2131666656","https://openalex.org/W2137267908","https://openalex.org/W2144657155","https://openalex.org/W2161491846","https://openalex.org/W2171137737","https://openalex.org/W2179054690","https://openalex.org/W3217246742","https://openalex.org/W4300029251","https://openalex.org/W6678621847","https://openalex.org/W6685755597"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2997729061","https://openalex.org/W2541098390","https://openalex.org/W2744818472","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4389401105","https://openalex.org/W2291700020"],"abstract_inverted_index":{"This":[0,98],"paper":[1],"deals":[2],"with":[3,131,152],"the":[4,26,43,48,54,72,77,103,106,110,118,121,140,146,153,187,205],"imitation":[5,151],"of":[6,39,71,112,120,134,177,204,212],"human":[7],"motions":[8],"by":[9],"a":[10,19,31,37,68,125,132,158,209],"humanoid":[11,44,126,214],"robot":[12,49,73,79,104,215],"based":[13,85,136,149,167],"on":[14,42,86,124,168],"marker":[15,56,107,122,147,184],"point":[16],"measurements":[17],"from":[18],"3D":[20],"motion":[21,80,150,162,178],"capture":[22],"system.":[23],"For":[24,117],"imitating":[25],"humanpsilas":[27],"motion,":[28],"we":[29,128],"propose":[30],"Cartesian":[32],"control":[33,40,123,148],"approach":[34],"in":[35,183],"which":[36,156],"set":[38],"points":[41,57,108],"is":[45,50,157,216],"selected":[46],"and":[47,94,165,175,197],"virtually":[51],"connected":[52],"to":[53,64,101,193],"measured":[55],"via":[58],"translational":[59],"springs.":[60],"The":[61],"forces":[62],"according":[63],"these":[65,191],"springs":[66],"drive":[67],"simplified":[69],"simulation":[70],"dynamics,":[74],"such":[75],"that":[76],"real":[78],"can":[81],"finally":[82],"be":[83],"generated":[84],"joint":[87,92],"position":[88],"controllers":[89],"effectively":[90],"managing":[91],"friction":[93],"other":[95],"uncertain":[96],"dynamics.":[97],"procedure":[99],"allows":[100],"make":[102],"follow":[105],"without":[109],"need":[111],"explicitly":[113],"computing":[114],"inverse":[115],"kinematics.":[116],"implementation":[119],"robot,":[127],"combine":[129],"it":[130],"center":[133],"gravity":[135],"balancing":[137],"controller":[138],"for":[139,161,189],"lower":[141],"body":[142],"joints.":[143],"We":[144],"integrate":[145],"mimesis":[154],"model,":[155],"mathematical":[159],"model":[160],"learning,":[163],"recognition,":[164,174],"generation":[166,176],"hidden":[169],"Markov":[170],"models":[171],"(HMMs).":[172],"Learning,":[173],"primitives":[179],"are":[180],"all":[181],"performed":[182],"coordinates":[185],"paving":[186],"way":[188],"extending":[190],"concepts":[192,207],"task":[194],"space":[195],"problems":[196],"object":[198],"manipulation.":[199],"Finally,":[200],"an":[201],"experimental":[202],"evaluation":[203],"presented":[206],"using":[208],"38":[210],"degrees":[211],"freedom":[213],"discussed.":[217]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}