{"id":"https://openalex.org/W4312530573","doi":"https://doi.org/10.1109/iros47612.2022.9982127","title":"A Riemannian Take on Human Motion Analysis and Retargeting","display_name":"A Riemannian Take on Human Motion Analysis and Retargeting","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312530573","doi":"https://doi.org/10.1109/iros47612.2022.9982127"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982127","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5103239938","display_name":"Holger Klein","orcid":"https://orcid.org/0000-0002-6904-2319"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Holger Klein","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany","Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064146907","display_name":"No\u00e9mie Jaquier","orcid":"https://orcid.org/0000-0003-3565-9414"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"No\u00e9mie Jaquier","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany","Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079906134","display_name":"Andre Meixner","orcid":"https://orcid.org/0000-0002-4823-0687"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Meixner","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany","Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tamim Asfour","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany","Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103239938"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":4.9502,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.97348066,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5210","last_page":"5217"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9990000128746033,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/geodesic","display_name":"Geodesic","score":0.8049986958503723},{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.7046432495117188},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5651541352272034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.548416793346405},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.525624692440033},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4847938120365143},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4829646646976471},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4529699981212616},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4422565698623657},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4271087348461151},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.425489604473114},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3744158148765564},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29020076990127563},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.21799588203430176},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.21601751446723938},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.215448260307312},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1995135247707367}],"concepts":[{"id":"https://openalex.org/C165818556","wikidata":"https://www.wikidata.org/wiki/Q213488","display_name":"Geodesic","level":2,"score":0.8049986958503723},{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.7046432495117188},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5651541352272034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.548416793346405},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.525624692440033},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4847938120365143},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4829646646976471},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4529699981212616},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4422565698623657},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4271087348461151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.425489604473114},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3744158148765564},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29020076990127563},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.21799588203430176},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.21601751446723938},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.215448260307312},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1995135247707367},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982127","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309895","display_name":"Carl-Zeiss-Stiftung","ror":"https://ror.org/03ng4kg22"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1141781854","https://openalex.org/W1568751365","https://openalex.org/W1885639605","https://openalex.org/W1972837991","https://openalex.org/W1977908343","https://openalex.org/W1997861712","https://openalex.org/W2006430479","https://openalex.org/W2029776687","https://openalex.org/W2032375919","https://openalex.org/W2052079413","https://openalex.org/W2055868014","https://openalex.org/W2064527819","https://openalex.org/W2092895305","https://openalex.org/W2123104188","https://openalex.org/W2137267908","https://openalex.org/W2159218197","https://openalex.org/W2160490717","https://openalex.org/W2161491846","https://openalex.org/W2171425630","https://openalex.org/W2316063787","https://openalex.org/W2423857766","https://openalex.org/W2460926736","https://openalex.org/W2592007507","https://openalex.org/W2805114031","https://openalex.org/W2885810180","https://openalex.org/W2896405912","https://openalex.org/W2982369787","https://openalex.org/W2998290723","https://openalex.org/W3025281718","https://openalex.org/W3122282950","https://openalex.org/W3129702458","https://openalex.org/W3205133366","https://openalex.org/W4206033904","https://openalex.org/W4292402580","https://openalex.org/W6633890050","https://openalex.org/W6683509219"],"related_works":["https://openalex.org/W2461433938","https://openalex.org/W4389483750","https://openalex.org/W2770958975","https://openalex.org/W4388007604","https://openalex.org/W1033720759","https://openalex.org/W2043281736","https://openalex.org/W2798302728","https://openalex.org/W4316663596","https://openalex.org/W2924774772","https://openalex.org/W3147766660"],"abstract_inverted_index":{"Dynamic":[0],"motions":[1,41,93,125],"of":[2,16,29,46,76,82],"humans":[3],"and":[4,49,97],"robots":[5,127],"are":[6,42],"widely":[7],"driven":[8],"by":[9,34,128],"posture-dependent":[10],"nonlinear":[11],"interactions":[12],"between":[13],"their":[14,108],"degrees":[15],"freedom.":[17],"However,":[18],"these":[19],"dynamical":[20],"effects":[21],"remain":[22],"mostly":[23],"overlooked":[24],"when":[25],"studying":[26],"the":[27,73,77,80,137],"mechanisms":[28],"human":[30,40,84,131],"movement":[31],"generation.":[32],"Inspired":[33],"recent":[35],"works,":[36],"we":[37,87,113],"hypothesize":[38],"that":[39,89,115],"planned":[43],"as":[44,105,107,133],"sequences":[45],"geodesic":[47,95,134],"synergies,":[48,96],"thus":[50],"correspond":[51],"to":[52,70,122,126],"coordinated":[53],"joint":[54],"movements":[55],"achieved":[56],"with":[57],"piecewise":[58],"minimum":[59],"energy.":[60],"The":[61],"underlying":[62],"computational":[63],"model":[64,91],"is":[65],"built":[66],"on":[67],"Riemannian":[68],"geometry":[69],"account":[71],"for":[72],"inertial":[74],"characteristics":[75],"body.":[78],"Through":[79],"analysis":[81,117],"various":[83],"arm":[85,101,124],"motions,":[86],"find":[88],"our":[90,116],"segments":[92],"into":[94],"successfully":[98],"predicts":[99],"observed":[100],"postures,":[102],"hand":[103],"trajectories,":[104],"well":[106],"respective":[109],"velocity":[110],"profiles.":[111],"Moreover,":[112],"show":[114],"can":[118],"further":[119],"be":[120],"exploited":[121],"transfer":[123],"reproducing":[129],"individual":[130],"synergies":[132],"paths":[135],"in":[136],"robot":[138],"configuration":[139],"space.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
