{"id":"https://openalex.org/W2413608038","doi":"https://doi.org/10.1109/icra.2016.7487294","title":"Synthesis of full-body 3-D human gait using optimal control methods","display_name":"Synthesis of full-body 3-D human gait using optimal control methods","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2413608038","doi":"https://doi.org/10.1109/icra.2016.7487294","mag":"2413608038"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487294","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5021943562","display_name":"Martin L. Felis","orcid":"https://orcid.org/0000-0002-1221-8029"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin L. Felis","raw_affiliation_strings":["Optimization in Robotics and Biomechanics (ORB), Heidelberg University, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Optimization in Robotics and Biomechanics (ORB), Heidelberg University, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042406934","display_name":"Katja Mombaur","orcid":"https://orcid.org/0000-0003-1353-0943"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Katja Mombaur","raw_affiliation_strings":["Optimization in Robotics and Biomechanics (ORB), Heidelberg University, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Optimization in Robotics and Biomechanics (ORB), Heidelberg University, Germany","institution_ids":["https://openalex.org/I223822909"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I223822909"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1560","last_page":"1566"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9965999722480774,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9937000274658203,"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/computer-science","display_name":"Computer science","score":0.6895871758460999},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6052363514900208},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.591069221496582},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.568248987197876},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5363714694976807},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5274724364280701},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5009047985076904},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43780872225761414},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4313041567802429},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.43113061785697937},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40477511286735535},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36544185876846313},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.24874407052993774},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24245253205299377},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18298348784446716},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15526941418647766}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6895871758460999},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6052363514900208},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.591069221496582},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.568248987197876},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5363714694976807},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5274724364280701},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5009047985076904},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43780872225761414},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4313041567802429},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.43113061785697937},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40477511286735535},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36544185876846313},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.24874407052993774},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24245253205299377},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18298348784446716},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15526941418647766},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487294","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W95424908","https://openalex.org/W618254468","https://openalex.org/W1562460111","https://openalex.org/W1964965610","https://openalex.org/W1966784014","https://openalex.org/W1986052639","https://openalex.org/W1997861712","https://openalex.org/W2001165022","https://openalex.org/W2009317155","https://openalex.org/W2014664434","https://openalex.org/W2018571963","https://openalex.org/W2020340281","https://openalex.org/W2027247754","https://openalex.org/W2029015512","https://openalex.org/W2033299989","https://openalex.org/W2033655806","https://openalex.org/W2037277559","https://openalex.org/W2037997802","https://openalex.org/W2043709302","https://openalex.org/W2051567001","https://openalex.org/W2059731470","https://openalex.org/W2075005272","https://openalex.org/W2083334152","https://openalex.org/W2095661097","https://openalex.org/W2102883217","https://openalex.org/W2104089517","https://openalex.org/W2110194613","https://openalex.org/W2120003827","https://openalex.org/W2120894402","https://openalex.org/W2125298102","https://openalex.org/W2130281033","https://openalex.org/W2133220762","https://openalex.org/W2139093517","https://openalex.org/W2140190473","https://openalex.org/W2198775391","https://openalex.org/W2293545866","https://openalex.org/W2505086575","https://openalex.org/W2601317688","https://openalex.org/W4205985701","https://openalex.org/W4214942353","https://openalex.org/W4242577313","https://openalex.org/W4246555273","https://openalex.org/W4252718184","https://openalex.org/W4253394173","https://openalex.org/W4256615025","https://openalex.org/W4301014524","https://openalex.org/W6633748999","https://openalex.org/W6676789925","https://openalex.org/W6725192420","https://openalex.org/W6735205093"],"related_works":["https://openalex.org/W2047753467","https://openalex.org/W2608331166","https://openalex.org/W2083910291","https://openalex.org/W332322835","https://openalex.org/W2100946774","https://openalex.org/W2619713361","https://openalex.org/W1998758354","https://openalex.org/W3048378937","https://openalex.org/W1925264634","https://openalex.org/W2204131196"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,81],"present":[4],"a":[5,39,59],"method":[6,28,42],"that":[7,16],"uses":[8],"optimal":[9],"control":[10],"for":[11,58],"offline":[12],"human":[13,62,75,96],"gait":[14],"synthesis":[15],"does":[17],"not":[18],"depend":[19],"on":[20,31],"motion":[21],"capture":[22],"data":[23],"or":[24],"task-specific":[25],"controllers.":[26],"Our":[27],"is":[29],"based":[30],"efficient":[32],"simulation":[33],"of":[34,67,88],"rigid":[35],"multibody":[36],"systems":[37],"and":[38,55,69],"direct":[40],"multiple-shooting":[41],"to":[43,84,94],"solve":[44],"the":[45,71,86,89],"underlying":[46],"space-time":[47],"optimization":[48,53],"problem.":[49],"We":[50],"formulated":[51],"different":[52,79],"criteria":[54,80],"synthesized":[56,90],"gaits":[57],"fullbody":[60],"3-D":[61],"model":[63],"with":[64,74,92],"34":[65],"degrees":[66],"freedom":[68],"compared":[70],"resulting":[72],"movements":[73],"data.":[76],"By":[77],"combining":[78],"are":[82],"able":[83],"improve":[85],"similarity":[87],"motions":[91],"respect":[93],"recorded":[95],"motioncapture":[97],"motions.":[98]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}