{"id":"https://openalex.org/W2120742447","doi":"https://doi.org/10.1109/iros.2007.4399485","title":"Improving humanoid locomotive performance with learnt approximated dynamics via Gaussian processes for regression","display_name":"Improving humanoid locomotive performance with learnt approximated dynamics via Gaussian processes for regression","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2120742447","doi":"https://doi.org/10.1109/iros.2007.4399485","mag":"2120742447"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399485","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100560498/ATD100000413/","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025458882","display_name":"Jun Morimoto","orcid":"https://orcid.org/0000-0002-4115-1919"},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I1319490839","https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Morimoto","raw_affiliation_strings":["ICORP, Computational Brain Project and with ATR Computational Neuroscience Laboratories, Japan Science and Technology Agency, Japan","Japan Sci. & Technol. Agency, Tokyo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICORP, Computational Brain Project and with ATR Computational Neuroscience Laboratories, Japan Science and Technology Agency, Japan","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"Japan Sci. & Technol. Agency, Tokyo","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055330939","display_name":"Christopher G. Atkeson","orcid":"https://orcid.org/0000-0003-4265-8452"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher G. Atkeson","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Japan","Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048975019","display_name":"Gordon Cheng","orcid":"https://orcid.org/0000-0003-0770-8717"},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I1319490839","https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gordon Cheng","raw_affiliation_strings":["ICORP, Computational Brain Project and with ATR Computational Neuroscience Laboratories, Japan Science and Technology Agency, Japan","Japan Science and Technology Agency, ICORP, Computational Brain Project, and with ATR Computational Neuroscience Laboratories, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICORP, Computational Brain Project and with ATR Computational Neuroscience Laboratories, Japan Science and Technology Agency, Japan","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"Japan Science and Technology Agency, ICORP, Computational Brain Project, and with ATR Computational Neuroscience Laboratories, Japan","institution_ids":["https://openalex.org/I4210086780"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7477,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.69840183,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"8","issue":null,"first_page":"4234","last_page":"4240"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9865000247955322,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11663","display_name":"Viral Infectious Diseases and Gene Expression in Insects","score":0.9799000024795532,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8364941477775574},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.6842198967933655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6593987345695496},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.5693296194076538},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5595728158950806},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5556367635726929},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.545708954334259},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.5218388438224792},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4828101396560669},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4626880884170532},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37689051032066345},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3532661199569702},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2582680583000183},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2441999912261963},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07187953591346741}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8364941477775574},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.6842198967933655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6593987345695496},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.5693296194076538},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5595728158950806},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5556367635726929},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.545708954334259},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.5218388438224792},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4828101396560669},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4626880884170532},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37689051032066345},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3532661199569702},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2582680583000183},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2441999912261963},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07187953591346741},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4399485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399485","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:50035379","is_oa":true,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100560498","pdf_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100560498/ATD100000413/","source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"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":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:t2r2.star.titech.ac.jp:50035379","is_oa":true,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100560498","pdf_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100560498/ATD100000413/","source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"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":"Conference Paper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1373100644","display_name":"ITR: Collaborative Research: Using Humanoids to Understand Humans","funder_award_id":"0325383","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2983817602","display_name":null,"funder_award_id":"EEC-0540865","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3256700315","display_name":"IGERT: Interdisciplinary Research Training in Assistive Technology","funder_award_id":"0333420","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3323168326","display_name":"Quality of Life Technology Engineering Research Center","funder_award_id":"0540865","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5357201954","display_name":"Collaborative Research Resources: An Experimental Platform for Humanoid Robotics Research","funder_award_id":"0224419","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2120742447.pdf","grobid_xml":"https://content.openalex.org/works/W2120742447.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W44140225","https://openalex.org/W1521427077","https://openalex.org/W1540685400","https://openalex.org/W1876456565","https://openalex.org/W1971609423","https://openalex.org/W1994923984","https://openalex.org/W2070038508","https://openalex.org/W2109008048","https://openalex.org/W2113501460","https://openalex.org/W2114372896","https://openalex.org/W2115450028","https://openalex.org/W2121863487","https://openalex.org/W2132602063","https://openalex.org/W2133761776","https://openalex.org/W2151268438","https://openalex.org/W2155625664","https://openalex.org/W2167210454","https://openalex.org/W2316463358","https://openalex.org/W2382033701","https://openalex.org/W2569805627","https://openalex.org/W2731133179","https://openalex.org/W4214717370","https://openalex.org/W6601848611","https://openalex.org/W6632235069","https://openalex.org/W6677522255","https://openalex.org/W6731402942","https://openalex.org/W6740260443"],"related_works":["https://openalex.org/W4300066510","https://openalex.org/W2056958800","https://openalex.org/W566010457","https://openalex.org/W2600092203","https://openalex.org/W4311388919","https://openalex.org/W4293503520","https://openalex.org/W2803685231","https://openalex.org/W3134152097","https://openalex.org/W2966696655","https://openalex.org/W1971337326"],"abstract_inverted_index":{"We":[0,127],"propose":[1],"to":[2,33,36,42,49,78,88],"improve":[3,79,132],"the":[4,43,59,71,90,115,118,124,143,160],"locomotive":[5],"performance":[6],"of":[7,46,102,117,159],"humanoid":[8,157],"robots":[9],"by":[10,61,137],"using":[11,62,93,138],"approximated":[12,58,119,144],"biped":[13],"stepping":[14,80,133],"and":[15,68,81,134,149],"walking":[16,82,135],"dynamics":[17,60,73,120],"with":[18,106,142],"reinforcement":[19],"learning":[20,125],"(RL).":[21],"Although":[22],"RL":[23,35,75,112,140],"is":[24,30],"a":[25,65,99,103,107,139,155],"useful":[26],"non-linear":[27],"optimizer,":[28],"it":[29],"usually":[31],"difficult":[32],"apply":[34],"real":[37,66,150,156],"robotic":[38],"systems":[39],"-":[40],"due":[41],"large":[44],"number":[45],"iterations":[47],"required":[48],"acquire":[50],"suitable":[51],"policies.":[52,83],"In":[53],"this":[54],"study,":[55],"we":[56,96,130],"first":[57],"data":[63],"from":[64],"robot,":[67],"then":[69],"applied":[70],"estimated":[72],"in":[74,76,147],"order":[77],"Gaussian":[84,94],"processes":[85],"were":[86],"used":[87],"approximate":[89],"dynamics.":[91],"By":[92],"processes,":[95],"could":[97],"estimate":[98],"probability":[100],"distribution":[101],"target":[104],"function":[105],"given":[108],"covariance":[109],"function.":[110],"Thus,":[111],"can":[113,131],"take":[114],"uncertainty":[116],"into":[121],"account":[122],"throughout":[123],"process.":[126],"show":[128],"that":[129],"policies":[136],"method":[141],"models":[145],"both":[146],"simulated":[148],"environments.":[151],"Experimental":[152],"validation":[153],"on":[154],"robot":[158],"proposed":[161]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}