{"id":"https://openalex.org/W4392251757","doi":"https://doi.org/10.1109/lra.2024.3371291","title":"Fast Direct Optimal Control for Humanoids Based on Dynamics Representation in FPC Latent Space","display_name":"Fast Direct Optimal Control for Humanoids Based on Dynamics Representation in FPC Latent Space","publication_year":2024,"publication_date":"2024-02-28","ids":{"openalex":"https://openalex.org/W4392251757","doi":"https://doi.org/10.1109/lra.2024.3371291"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3371291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3371291","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103283551","display_name":"Soya Shimizu","orcid":"https://orcid.org/0000-0001-6212-2415"},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Soya Shimizu","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Graduate School of Engineering, Tokyo University of Agriculture and Technology, Koganei, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Graduate School of Engineering, Tokyo University of Agriculture and Technology, Koganei, Tokyo, Japan","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081057425","display_name":"Ko Ayusawa","orcid":"https://orcid.org/0000-0001-8188-4204"},"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":"Ko Ayusawa","raw_affiliation_strings":["Human Augmentation Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Kashiwa, Chiba, Japan","CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)"],"affiliations":[{"raw_affiliation_string":"Human Augmentation Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Kashiwa, Chiba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076587308","display_name":"Gentiane Venture","orcid":"https://orcid.org/0000-0001-7767-4765"},"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"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gentiane Venture","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)","UTokyo - The University of Tokyo (7 Chome-3-1 Hongo, Bunkyo, Tokyo 113-8654, Japon - Japan)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"UTokyo - The University of Tokyo (7 Chome-3-1 Hongo, Bunkyo, Tokyo 113-8654, Japon - Japan)","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103283551"],"corresponding_institution_ids":["https://openalex.org/I92614990"],"apc_list":null,"apc_paid":null,"fwci":0.1852,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.42178517,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"9","issue":"4","first_page":"3823","last_page":"3830"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9896000027656555,"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":0.9876999855041504,"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/humanoid-robot","display_name":"Humanoid robot","score":0.6909013390541077},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.678907036781311},{"id":"https://openalex.org/keywords/principal-component-analysis","display_name":"Principal component analysis","score":0.6647798418998718},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6464822292327881},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.636986494064331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5558649301528931},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5426055192947388},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4591583013534546},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4387410581111908},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4245513081550598},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41638848185539246},{"id":"https://openalex.org/keywords/motion-analysis","display_name":"Motion analysis","score":0.41439518332481384},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3623603880405426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3434073328971863},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3280491232872009},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2458203136920929},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09275540709495544},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.09196433424949646}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6909013390541077},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.678907036781311},{"id":"https://openalex.org/C27438332","wikidata":"https://www.wikidata.org/wiki/Q2873","display_name":"Principal component analysis","level":2,"score":0.6647798418998718},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6464822292327881},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.636986494064331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5558649301528931},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5426055192947388},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4591583013534546},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4387410581111908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4245513081550598},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41638848185539246},{"id":"https://openalex.org/C2777036941","wikidata":"https://www.wikidata.org/wiki/Q6917771","display_name":"Motion analysis","level":2,"score":0.41439518332481384},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3623603880405426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3434073328971863},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3280491232872009},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2458203136920929},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09275540709495544},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.09196433424949646},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3371291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3371291","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-04826144v1","is_oa":false,"landing_page_url":"https://hal.science/hal-04826144","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2024, 9 (4), pp.3823-3830. ⟨10.1109/LRA.2024.3371291⟩","raw_type":"Journal articles"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1562460111","https://openalex.org/W1984827805","https://openalex.org/W2005080926","https://openalex.org/W2037416370","https://openalex.org/W2040669081","https://openalex.org/W2100495367","https://openalex.org/W2120693140","https://openalex.org/W2142992961","https://openalex.org/W2290324037","https://openalex.org/W2469134594","https://openalex.org/W2740170066","https://openalex.org/W2787666871","https://openalex.org/W2795674018","https://openalex.org/W2804452275","https://openalex.org/W2842089854","https://openalex.org/W3011081827","https://openalex.org/W3085042335","https://openalex.org/W3171725195","https://openalex.org/W3177140883","https://openalex.org/W3195918278","https://openalex.org/W3206221485","https://openalex.org/W3214055834","https://openalex.org/W4205634661","https://openalex.org/W4285497918","https://openalex.org/W4318953217","https://openalex.org/W4366140999","https://openalex.org/W4376109419","https://openalex.org/W4387682164","https://openalex.org/W4389667669"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W1975632186","https://openalex.org/W4389009354","https://openalex.org/W2564804538","https://openalex.org/W1974803039","https://openalex.org/W1532965292","https://openalex.org/W2541058374"],"abstract_inverted_index":{"This":[0],"study":[1],"introduces":[2],"a":[3,36,78],"novel":[4],"approach":[5],"to":[6,63],"Humanoid":[7],"Robot":[8],"Motion":[9],"Generation":[10],"using":[11,69],"Functional":[12],"Principal":[13],"Component":[14],"Analysis":[15],"(FPCA)":[16],"within":[17],"the":[18,41,48,52,58,89,99,116,138,148],"framework":[19],"of":[20,51,60,126],"Direct":[21],"Optimal":[22],"Control":[23],"(DOC).":[24],"FPCA":[25],"efficiently":[26],"compresses":[27],"high-dimensional":[28],"motion":[29,85,131],"data,":[30],"including":[31],"ground":[32],"reaction":[33],"forces,":[34],"into":[35],"low-dimensional":[37,45,71],"space":[38],"known":[39],"as":[40,73],"FPC":[42],"space.":[43],"These":[44],"elements":[46,62,72],"preserve":[47],"essential":[49],"characteristics":[50],"original":[53],"motions":[54],"and":[55,119],"allow":[56],"for":[57,84,102,112],"synthesis":[59],"specific":[61],"create":[64],"entirely":[65],"new":[66],"representations.":[67],"By":[68],"these":[70],"optimization":[74],"variables,":[75],"we":[76],"anticipated":[77],"significant":[79],"reduction":[80],"in":[81],"computational":[82],"time":[83,142],"generation.":[86],"Experiments":[87],"on":[88],"humanoid":[90],"robot":[91],"HRP-4":[92],"J,":[93],"considering":[94],"various":[95],"objective":[96],"functions,":[97],"demonstrated":[98],"method's":[100,140],"applicability":[101],"generating":[103],"whole-body":[104],"motions.":[105],"The":[106],"Root":[107],"Mean":[108],"Square":[109],"Error":[110],"(RMSE)":[111],"angle":[113],"data":[114,135],"between":[115],"proposed":[117,139],"method":[118],"conventional":[120,149],"methods":[121],"yielded":[122],"an":[123],"average":[124],"RMSE":[125],"0.007":[127],"rd,":[128],"indicating":[129],"precise":[130],"generation":[132],"without":[133],"compromising":[134],"characteristics.":[136],"Moreover,":[137],"computation":[141],"was":[143],"35.8":[144],"times":[145],"faster":[146],"than":[147],"approach.":[150]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}