{"id":"https://openalex.org/W1986698905","doi":"https://doi.org/10.1109/isr.2013.6695715","title":"Optimization-based motion retargeting integrating spatial and dynamic constraints for humanoid","display_name":"Optimization-based motion retargeting integrating spatial and dynamic constraints for humanoid","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W1986698905","doi":"https://doi.org/10.1109/isr.2013.6695715","mag":"1986698905"},"language":"en","primary_location":{"id":"doi:10.1109/isr.2013.6695715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695715","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-00908568","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036087573","display_name":"Thomas Moulard","orcid":"https://orcid.org/0000-0002-7890-5366"},"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/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Thomas Moulard","raw_affiliation_strings":["UMI3218/CRT, CNRS-AIST JRL (Joint Robotics Laboratory)","CNRS-AIST JRL (Joint Robot. Lab.), Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UMI3218/CRT, CNRS-AIST JRL (Joint Robotics Laboratory)","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robot. Lab.), Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080826821","display_name":"Eiichi Yoshida","orcid":"https://orcid.org/0000-0002-3077-6964"},"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/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["FR","JP"],"is_corresponding":false,"raw_author_name":"Eiichi Yoshida","raw_affiliation_strings":["Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Japan","CNRS-AIST JRL (Joint Robot. Lab.), Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robot. Lab.), Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012117970","display_name":"Shin\u2019ichiro Nakaoka","orcid":"https://orcid.org/0000-0002-2346-1251"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shin'ichiro Nakaoka","raw_affiliation_strings":["Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Japan","Humanoid Res. Group, Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Humanoid Res. Group, Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.872,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.82082267,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"23","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9983000159263611,"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/T11439","display_name":"Video Analysis and Summarization","score":0.9930999875068665,"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/retargeting","display_name":"Retargeting","score":0.9806602001190186},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7029159665107727},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5899999141693115},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5228201150894165},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.45715755224227905},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43341559171676636},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4229260981082916}],"concepts":[{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.9806602001190186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7029159665107727},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5899999141693115},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5228201150894165},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.45715755224227905},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43341559171676636},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4229260981082916}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/isr.2013.6695715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695715","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.728.3705","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.728.3705","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://staff.aist.go.jp/e.yoshida/papers/retargeting-isr2013.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:hal-00908568v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00908568","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":"The 44th Symposium on Robotics, Oct 2013, Seoul, South Korea. ⟨10.1109/ISR.2013.6695715⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-00908568v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00908568","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":"The 44th Symposium on Robotics, Oct 2013, Seoul, South Korea. ⟨10.1109/ISR.2013.6695715⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1575294293","https://openalex.org/W1900417662","https://openalex.org/W1964808812","https://openalex.org/W1995199698","https://openalex.org/W1995403026","https://openalex.org/W2004116378","https://openalex.org/W2016214341","https://openalex.org/W2016920359","https://openalex.org/W2020870038","https://openalex.org/W2031679247","https://openalex.org/W2033208083","https://openalex.org/W2045661150","https://openalex.org/W2087617385","https://openalex.org/W2098516422","https://openalex.org/W2109026728","https://openalex.org/W2120435658","https://openalex.org/W2124233268","https://openalex.org/W2133229776","https://openalex.org/W2137267908","https://openalex.org/W2137650055","https://openalex.org/W2145477224","https://openalex.org/W2158794687","https://openalex.org/W2160936795","https://openalex.org/W2166756487","https://openalex.org/W2170217103","https://openalex.org/W2575691688","https://openalex.org/W6680417074"],"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/W4388184571","https://openalex.org/W1573525351"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"an":[5],"optimizationbased":[6],"retargeting":[7,28],"method":[8,131],"for":[9,104],"precise":[10],"reproduction":[11],"of":[12,27,40,106,128,135],"captured":[13,139],"human":[14,55,140],"motions":[15,108],"by":[16,109],"a":[17,58,70,97,110,133,143],"humanoid":[18,111,144],"robot.":[19,145],"We":[20,86,122],"take":[21],"into":[22],"account":[23],"two":[24],"important":[25],"aspects":[26],"simultaneously:":[29],"spatial":[30,42],"relationship":[31,43],"and":[32,92],"robot":[33,112],"dynamics":[34],"model.":[35],"The":[36],"former":[37],"takes":[38],"care":[39],"the":[41,45,54,62,65,73,89,93,125,129],"between":[44],"body":[46],"parts":[47],"based":[48],"on":[49],"\u201cinteraction":[50],"mesh\u201d":[51],"to":[52,114,142],"follow":[53],"motion":[56,67],"in":[57,68,96],"natural":[59,107],"manner,":[60],"whereas":[61],"latter":[63],"adapts":[64],"resulting":[66],"such":[69,76],"way":[71],"that":[72,117],"dynamic":[74,81,94],"constraints":[75,95],"as":[77],"torque":[78],"limit":[79],"or":[80],"balance":[82],"are":[83],"being":[84],"satisfied.":[85],"have":[87,123],"integrated":[88],"interaction":[90],"mesh":[91],"unified":[98],"optimization":[99],"framework,":[100],"which":[101],"is":[102],"advantageous":[103],"generation":[105],"compared":[113],"previous":[115],"work":[116],"performs":[118],"those":[119],"processes":[120],"separately.":[121],"validated":[124],"basic":[126],"effectiveness":[127],"proposed":[130],"with":[132],"sequence":[134],"postures":[136],"converted":[137],"from":[138],"data":[141]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}