{"id":"https://openalex.org/W2582284816","doi":"https://doi.org/10.1109/lra.2017.2657000","title":"COCoMoPL: A Novel Approach for Humanoid Walking Generation Combining Optimal Control, Movement Primitives and Learning and its Transfer to the Real Robot HRP-2","display_name":"COCoMoPL: A Novel Approach for Humanoid Walking Generation Combining Optimal Control, Movement Primitives and Learning and its Transfer to the Real Robot HRP-2","publication_year":2017,"publication_date":"2017-01-23","ids":{"openalex":"https://openalex.org/W2582284816","doi":"https://doi.org/10.1109/lra.2017.2657000","mag":"2582284816"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2657000","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2657000","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01459840","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055577582","display_name":"Debora Clever","orcid":"https://orcid.org/0000-0002-0542-3833"},"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":true,"raw_author_name":"Debora Clever","raw_affiliation_strings":["Interdisciplinary Center for Scientific Computing, Optimization in Robotics and Biomechanics, University of Heidelberg, Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Interdisciplinary Center for Scientific Computing, Optimization in Robotics and Biomechanics, University of Heidelberg, Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037962606","display_name":"Monika Harant","orcid":"https://orcid.org/0000-0003-4518-4694"},"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":"Monika Harant","raw_affiliation_strings":["Interdisciplinary Center for Scientific Computing, Optimization in Robotics and Biomechanics, University of Heidelberg, Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Interdisciplinary Center for Scientific Computing, Optimization in Robotics and Biomechanics, University of Heidelberg, Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","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":["Interdisciplinary Center for Scientific Computing, Optimization in Robotics and Biomechanics, University of Heidelberg, Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Interdisciplinary Center for Scientific Computing, Optimization in Robotics and Biomechanics, University of Heidelberg, Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009317342","display_name":"Maximilien Naveau","orcid":"https://orcid.org/0000-0002-1350-262X"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Maximilien Naveau","raw_affiliation_strings":["CNRS\u2013LAAS, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"CNRS\u2013LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071048560","display_name":"Olivier Stasse","orcid":"https://orcid.org/0000-0001-8569-6155"},"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/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Olivier Stasse","raw_affiliation_strings":["CNRS\u2013LAAS, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"CNRS\u2013LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073001691","display_name":"Dominik Endres","orcid":"https://orcid.org/0000-0001-9756-9655"},"institutions":[{"id":"https://openalex.org/I161103922","display_name":"Philipps University of Marburg","ror":"https://ror.org/01rdrb571","country_code":"DE","type":"education","lineage":["https://openalex.org/I161103922"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dominik Endres","raw_affiliation_strings":["Theoretical Neuroscience Group, Deptartment of Psychology, Philipps-University Marburg, Marburg, Germany"],"affiliations":[{"raw_affiliation_string":"Theoretical Neuroscience Group, Deptartment of Psychology, Philipps-University Marburg, Marburg, Germany","institution_ids":["https://openalex.org/I161103922"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5055577582"],"corresponding_institution_ids":["https://openalex.org/I223822909"],"apc_list":null,"apc_paid":null,"fwci":2.8041,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.90311186,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2","issue":"2","first_page":"977","last_page":"984"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9929999709129333,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9782999753952026,"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/humanoid-robot","display_name":"Humanoid robot","score":0.9371291399002075},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7162021398544312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7004725933074951},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6604222059249878},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5773380398750305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5047930479049683},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.47313016653060913},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4686899483203888},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44701895117759705},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4336968660354614},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.42506468296051025},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32181790471076965},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22455590963363647},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09724560379981995}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9371291399002075},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7162021398544312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7004725933074951},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6604222059249878},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5773380398750305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5047930479049683},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.47313016653060913},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4686899483203888},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44701895117759705},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4336968660354614},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.42506468296051025},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32181790471076965},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22455590963363647},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09724560379981995},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2017.2657000","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2657000","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01459840v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01459840","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":"IEEE Robotics and Automation Letters, 2017, 2 (2), pp.977-984. ⟨10.1109/LRA.2017.2657000⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01459840v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01459840","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":"IEEE Robotics and Automation Letters, 2017, 2 (2), pp.977-984. ⟨10.1109/LRA.2017.2657000⟩","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3352120225","display_name":null,"funder_award_id":"FP7/2007\u20132013","funder_id":"https://openalex.org/F4320334960","funder_display_name":"Seventh Framework Programme"},{"id":"https://openalex.org/G7609548668","display_name":null,"funder_award_id":"611909","funder_id":"https://openalex.org/F4320334960","funder_display_name":"Seventh Framework Programme"},{"id":"https://openalex.org/G8426741255","display_name":null,"funder_award_id":"SFB/TRR 135","funder_id":"https://openalex.org/F4320308022","funder_display_name":"California Department of Fish and Game"}],"funders":[{"id":"https://openalex.org/F4320308022","display_name":"California Department of Fish and Game","ror":"https://ror.org/02v6w2r95"},{"id":"https://openalex.org/F4320334889","display_name":"Heidelberg Graduate School of Mathematical and Computational Methods for the Sciences, University of Heidelberg","ror":"https://ror.org/038t36y30"},{"id":"https://openalex.org/F4320334960","display_name":"Seventh Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W276848478","https://openalex.org/W566530810","https://openalex.org/W618254468","https://openalex.org/W1431688706","https://openalex.org/W1515619039","https://openalex.org/W1562460111","https://openalex.org/W1606347560","https://openalex.org/W1663973292","https://openalex.org/W2000359198","https://openalex.org/W2043310980","https://openalex.org/W2080154361","https://openalex.org/W2087617385","https://openalex.org/W2097105297","https://openalex.org/W2110114082","https://openalex.org/W2132675839","https://openalex.org/W2166162370","https://openalex.org/W2190226114","https://openalex.org/W2198582666","https://openalex.org/W2219576503","https://openalex.org/W2237318248","https://openalex.org/W2295431040","https://openalex.org/W2415458238","https://openalex.org/W2419095482","https://openalex.org/W2469571316","https://openalex.org/W2594639291","https://openalex.org/W2760234486","https://openalex.org/W3102212813","https://openalex.org/W4211049957","https://openalex.org/W6610027523","https://openalex.org/W6633748999","https://openalex.org/W6636358008","https://openalex.org/W6690075190","https://openalex.org/W6992883330"],"related_works":["https://openalex.org/W2168647525","https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2362004994","https://openalex.org/W1965124047"],"abstract_inverted_index":{"COCoMoPL":[0,94],"is":[1],"a":[2,45,83,97,163,177],"recently":[3],"developed":[4],"approach":[5,122],"combining":[6],"optimal":[7,33],"control,":[8],"movement":[9,59,133],"primitives":[10,60,134],"and":[11,50,67,106,149,157,171],"learning":[12],"for":[13,44,78,89,176],"the":[14,42,52,90,120,128,132,141,144,151,155,167,173,185,193],"generation":[15],"of":[16,41,47,143,159,166,180,187,192],"humanoid":[17,79,99],"walking":[18,48,76],"motions":[19],"(Clever":[20],"et":[21],"al.":[22],"Robot.":[23],"Auton.":[24],"Syst.,":[25],"vol.":[26],"83,":[27],"pp.":[28],"287.298,":[29],"2016).":[30],"It":[31],"solves":[32],"control":[34],"problems":[35],"based":[36],"on":[37,96,172],"detailed":[38],"dynamic":[39],"models":[40],"robot":[43,175],"variety":[46],"parameters":[49],"uses":[51],"solutions":[53],"as":[54],"training":[55,129],"data":[56],"to":[57,65,73,117,136],"create":[58],"that":[61,93],"are":[62],"very":[63,84],"close":[64],"feasibility":[66],"optimality.":[68],"These":[69],"can":[70],"be":[71],"employed":[72],"synthesize":[74],"complex":[75],"sequences":[77],"robots":[80],"online":[81],"in":[82,169],"efficient":[85],"way.":[86],"We":[87,161,182],"demonstrate,":[88],"first":[91],"time,":[92],"works":[95],"real":[98,174],"robot,":[100],"here":[101],"HRP-2":[102],"with":[103],"36":[104],"DOF":[105],"30":[107],"position":[108],"controlled":[109],"actuators.":[110],"To":[111],"this":[112],"end,":[113],"it":[114],"was":[115],"necessary":[116],"significantly":[118],"extend":[119],"existing":[121],"by":[123],"including":[124],"transition":[125,152],"steps":[126],"into":[127],"data,":[130],"modify":[131],"(MP)":[135],"admit":[137],"these":[138],"transitions,":[139],"improve":[140],"representation":[142],"zero":[145],"moment":[146],"point":[147],"MPs":[148],"tighten":[150],"conditions":[153],"at":[154],"beginning":[156],"end":[158],"steps.":[160],"present":[162],"thorough":[164],"validation":[165],"method":[168],"simulation":[170],"challenging":[178],"sequence":[179],"movements.":[181],"also":[183],"compare":[184],"characteristics":[186],"movements":[188],"after":[189],"each":[190],"step":[191],"methodology.":[194]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}