{"id":"https://openalex.org/W4413978975","doi":"https://doi.org/10.1109/rcar65431.2025.11139493","title":"A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot","display_name":"A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot","publication_year":2025,"publication_date":"2025-06-01","ids":{"openalex":"https://openalex.org/W4413978975","doi":"https://doi.org/10.1109/rcar65431.2025.11139493"},"language":"en","primary_location":{"id":"doi:10.1109/rcar65431.2025.11139493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139493","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5023122827","display_name":"Zhenghan Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenghan Chen","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100680219","display_name":"Haodong Zhang","orcid":"https://orcid.org/0000-0002-8688-0592"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haodong Zhang","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086386273","display_name":"Dongqi Wang","orcid":"https://orcid.org/0000-0001-9415-1173"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongqi Wang","raw_affiliation_strings":["Zhejiang University,Department of Engineering Mechanics,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Department of Engineering Mechanics,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041583153","display_name":"Jiyu Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiyu Yu","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101855023","display_name":"Haocheng Xu","orcid":"https://orcid.org/0009-0006-7176-6961"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haocheng Xu","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4223,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.62454618,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"558","last_page":"563"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9975000023841858,"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":0.9975000023841858,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9850000143051147,"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":0.8565962910652161},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.7421263456344604},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6617559790611267},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5905824899673462},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5602751970291138},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5125186443328857},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5119917988777161},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4960657060146332},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4140499234199524},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35080963373184204},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07257935404777527}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8565962910652161},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.7421263456344604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6617559790611267},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5905824899673462},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5602751970291138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5125186443328857},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5119917988777161},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4960657060146332},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4140499234199524},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35080963373184204},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07257935404777527},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar65431.2025.11139493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139493","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"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/W28293053","https://openalex.org/W1525662195","https://openalex.org/W1968106150","https://openalex.org/W1988183163","https://openalex.org/W1991692529","https://openalex.org/W2109026728","https://openalex.org/W2115955659","https://openalex.org/W2133229776","https://openalex.org/W2162155086","https://openalex.org/W2529220408","https://openalex.org/W2759296571","https://openalex.org/W2762522875","https://openalex.org/W2774671814","https://openalex.org/W2779458783","https://openalex.org/W2890260927","https://openalex.org/W2890615439","https://openalex.org/W2891112931","https://openalex.org/W2896690662","https://openalex.org/W2963202339","https://openalex.org/W2971856312","https://openalex.org/W2986736840","https://openalex.org/W3010904850","https://openalex.org/W3038170185","https://openalex.org/W3147968035","https://openalex.org/W4206874420","https://openalex.org/W4248056173","https://openalex.org/W4285028015","https://openalex.org/W4378696928","https://openalex.org/W4385275600"],"related_works":["https://openalex.org/W2632090827","https://openalex.org/W2997729061","https://openalex.org/W2541098390","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151","https://openalex.org/W1827696521","https://openalex.org/W2173450654","https://openalex.org/W2039848376"],"abstract_inverted_index":{"Motion":[0],"imitation":[1,60],"is":[2],"a":[3,13,41,56,63,125,135],"pivotal":[4],"and":[5,19,33,38,79,86,100,133,148],"effective":[6],"approach":[7],"for":[8,62,83,114],"humanoid":[9,36,65,137],"robots":[10,37],"to":[11,75,123],"achieve":[12],"more":[14,25,115],"diverse":[15],"range":[16],"of":[17,109,127,144,154],"complex":[18],"expressive":[20],"movements,":[21],"making":[22],"their":[23],"performances":[24],"human-like.":[26],"However,":[27],"the":[28,87,94,110,142,152],"significant":[29],"differences":[30],"in":[31,44,104,131,134],"kinematics":[32],"dynamics":[34],"between":[35],"humans":[39],"present":[40],"major":[42],"challenge":[43],"accurately":[45],"imitating":[46],"motion":[47,59,73,78,95],"while":[48,97],"maintaining":[49,98],"balance.":[50],"In":[51],"this":[52],"paper,":[53],"we":[54],"propose":[55],"novel":[57],"whole-body":[58,72,111],"framework":[61],"full-size":[64],"robot.":[66,138],"The":[67,107],"proposed":[68],"method":[69],"employs":[70],"contact-aware":[71],"retargeting":[74],"mimic":[76],"human":[77,128],"provide":[80],"initial":[81],"values":[82],"reference":[84],"trajectories,":[85],"non-linear":[88],"centroidal":[89],"model":[90],"predictive":[91],"controller":[92,112],"ensures":[93],"accuracy":[96,147],"balance":[99],"overcoming":[101],"external":[102],"disturbances":[103],"real":[105],"time.":[106],"assistance":[108],"allows":[113],"precise":[116],"torque":[117],"control.":[118],"Experiments":[119],"have":[120],"been":[121],"conducted":[122],"imitate":[124],"variety":[126],"motions":[129],"both":[130],"simulation":[132],"real-world":[136],"These":[139],"experiments":[140],"demonstrate":[141],"capability":[143],"performing":[145],"with":[146],"adaptability,":[149],"which":[150],"validates":[151],"effectiveness":[153],"our":[155],"approach.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}