{"id":"https://openalex.org/W2742746968","doi":"https://doi.org/10.1109/lra.2017.2739103","title":"Modeling Robot Geometries Like Molecules, Application to Fast Multicontact Posture Planning for Humanoids","display_name":"Modeling Robot Geometries Like Molecules, Application to Fast Multicontact Posture Planning for Humanoids","publication_year":2017,"publication_date":"2017-08-11","ids":{"openalex":"https://openalex.org/W2742746968","doi":"https://doi.org/10.1109/lra.2017.2739103","mag":"2742746968"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2739103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2739103","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":"http://infoscience.epfl.ch/record/230040","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041921497","display_name":"Salman Faraji","orcid":"https://orcid.org/0000-0002-0192-7831"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Salman Faraji","raw_affiliation_strings":["Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Auke Jan Ijspeert","raw_affiliation_strings":["Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5041921497"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":0.2549,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.54542752,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"3","issue":"1","first_page":"289","last_page":"296"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9987000226974487,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9918000102043152,"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":0.832024335861206},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6626853942871094},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.643539309501648},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.6285220980644226},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5544509291648865},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5411685109138489},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5116724967956543},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4267214238643646},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4105914831161499},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32376378774642944},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1882072389125824}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.832024335861206},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6626853942871094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.643539309501648},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.6285220980644226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5544509291648865},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5411685109138489},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5116724967956543},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4267214238643646},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4105914831161499},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32376378774642944},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1882072389125824},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2017.2739103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2739103","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:infoscience.epfl.ch:230040","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/230040","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:230040","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/230040","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W99743575","https://openalex.org/W624844300","https://openalex.org/W1494129624","https://openalex.org/W1500527895","https://openalex.org/W1970101292","https://openalex.org/W2013682630","https://openalex.org/W2019606703","https://openalex.org/W2054577881","https://openalex.org/W2092056414","https://openalex.org/W2098506381","https://openalex.org/W2109420638","https://openalex.org/W2112474089","https://openalex.org/W2130281033","https://openalex.org/W2138233825","https://openalex.org/W2144351850","https://openalex.org/W2159768764","https://openalex.org/W2171776966","https://openalex.org/W2173950111","https://openalex.org/W2495070135","https://openalex.org/W2567729074","https://openalex.org/W2583852342","https://openalex.org/W2914275007","https://openalex.org/W4210580908","https://openalex.org/W4211194514","https://openalex.org/W6683600239"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W3188646203","https://openalex.org/W136674370","https://openalex.org/W2909957174","https://openalex.org/W2105527480","https://openalex.org/W4320035781","https://openalex.org/W2052387497","https://openalex.org/W2745063183","https://openalex.org/W4246278799"],"abstract_inverted_index":{"Traditional":[0],"joint-space":[1,110],"models":[2,35,111],"used":[3,41,52],"to":[4,17,53,109],"describe":[5],"equations":[6,74],"of":[7,29,75,88,156],"motion":[8,76],"for":[9,63,77,169],"humanoid":[10,64],"robots":[11,21],"offer":[12],"nice":[13],"properties":[14],"linked":[15],"directly":[16],"the":[18,38,78,103,118,140,144,147,152,163],"way":[19],"these":[20,34,159],"are":[22,36],"built.":[23],"However,":[24],"from":[25,151],"a":[26,59,85,128,166],"computational":[27,125],"point":[28],"view":[30],"and":[31,72,101,127,142],"convergence":[32],"properties,":[33],"not":[37],"fastest":[39],"when":[40],"in":[42,84,115,138,146,175],"planning":[43,91],"optimizations.":[44],"In":[45],"this":[46,82],"letter,":[47],"inspired":[48],"by":[49,70],"Cartesian":[50],"coordinates":[51],"model":[54,121],"molecular":[55],"structures,":[56],"we":[57,96],"propose":[58],"new":[60],"modeling":[61],"technique":[62,165],"robots.":[65],"We":[66,105],"represent":[67],"robot":[68],"segments":[69],"vectors":[71],"derive":[73],"full":[79],"body.":[80],"Using":[81],"methodology":[83],"complex":[86,173],"task":[87],"multicontact":[89],"posture":[90,157],"with":[92],"minimal":[93],"joint":[94],"torques,":[95],"set":[97],"up":[98],"optimization":[99],"problems":[100],"analyze":[102],"performance.":[104],"demonstrate":[106],"that":[107,112],"compared":[108],"get":[113],"trapped":[114],"local":[116],"minima,":[117],"proposed":[119,164],"vector-based":[120],"offers":[122],"much":[123],"faster":[124],"speed":[126],"suboptimal":[129],"but":[130],"unique":[131],"final":[132],"solution.":[133],"The":[134],"underlying":[135],"principle":[136],"lies":[137],"reducing":[139],"nonlinearity":[141],"exploiting":[143],"sparsity":[145],"problem":[148],"structure.":[149],"Apart":[150],"specific":[153],"case":[154],"study":[155],"optimization,":[158],"principles":[160],"can":[161],"make":[162],"promising":[167],"candidate":[168],"many":[170],"other":[171],"optimization-based":[172],"tasks":[174],"robotics.":[176]},"counts_by_year":[{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}