{"id":"https://openalex.org/W2169103908","doi":"https://doi.org/10.1109/robot.2002.1013410","title":"Dynamic simulation of a humanoid robot with four DOFs torso","display_name":"Dynamic simulation of a humanoid robot with four DOFs torso","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2169103908","doi":"https://doi.org/10.1109/robot.2002.1013410","mag":"2169103908"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1013410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1013410","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","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/A5062219430","display_name":"Fabrice Gravez","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"F. Gravez","raw_affiliation_strings":["Laboratoire \u010f Instrumentation et de Relations Individus Syst\u00e8mes, Velizy, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire \u010f Instrumentation et de Relations Individus Syst\u00e8mes, Velizy, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066169321","display_name":"B. Mohamed","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"B. Mohamed","raw_affiliation_strings":["Laboratoire \u010f Instrumentation et de Relations Individus Syst\u00e8mes, Velizy, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire \u010f Instrumentation et de Relations Individus Syst\u00e8mes, Velizy, France","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107834221","display_name":"F.B. Ouezdou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"F.B. Ouezdou","raw_affiliation_strings":["Laboratoire \u010f Instrumentation et de Relations Individus Syst\u00e8mes, Velizy, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire \u010f Instrumentation et de Relations Individus Syst\u00e8mes, Velizy, France","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5062219430"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0563,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.86624217,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"511","last_page":"516"},"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":0.9641000032424927,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.8272107243537903},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6984009742736816},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6665421724319458},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5942774415016174},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.5878152847290039},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5385476350784302},{"id":"https://openalex.org/keywords/dynamic-simulation","display_name":"Dynamic simulation","score":0.5157344937324524},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4889296591281891},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46961385011672974},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.46135708689689636},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.4602377414703369},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28016823530197144},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24805805087089539},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1355198621749878},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08493632078170776},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08041951060295105}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.8272107243537903},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6984009742736816},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6665421724319458},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5942774415016174},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.5878152847290039},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5385476350784302},{"id":"https://openalex.org/C149808339","wikidata":"https://www.wikidata.org/wiki/Q5319019","display_name":"Dynamic simulation","level":2,"score":0.5157344937324524},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4889296591281891},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46961385011672974},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.46135708689689636},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.4602377414703369},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28016823530197144},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24805805087089539},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1355198621749878},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08493632078170776},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08041951060295105},{"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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1013410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1013410","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7599999904632568,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1507752134","https://openalex.org/W1909540243","https://openalex.org/W2096120485","https://openalex.org/W2120995094","https://openalex.org/W2127047205","https://openalex.org/W2134787557","https://openalex.org/W2142190957","https://openalex.org/W2142992961","https://openalex.org/W2154760503","https://openalex.org/W2275750805","https://openalex.org/W3140906115","https://openalex.org/W6639900609","https://openalex.org/W6695082812"],"related_works":["https://openalex.org/W1603553962","https://openalex.org/W2150760984","https://openalex.org/W2078643039","https://openalex.org/W2076364826","https://openalex.org/W2021225188","https://openalex.org/W2153984928","https://openalex.org/W2026796009","https://openalex.org/W2630805029","https://openalex.org/W2365389012","https://openalex.org/W2011009745"],"abstract_inverted_index":{"In":[0],"this":[1,64,110],"paper,":[2],"we":[3],"present":[4],"the":[5,87,92,97,100,106,113,127,147,167,184],"3D":[6,60,83,164],"dynamic":[7,61,84,148,181],"simulation":[8,62,85,165],"of":[9,12,23,63,86,105,109,115,121,163,166,183],"walking":[10,187],"gait":[11],"biped":[13,19,36,170,185],"Robian":[14,77,88],"II":[15,78],"virtual":[16],"manikin.":[17],"The":[18,173],"has":[20],"16":[21],"degrees":[22],"freedom":[24],"(DOFs).":[25],"Initially,":[26],"a":[27,34,59],"biomimetic":[28],"approach":[29],"is":[30,66,71,153,177],"used":[31,72,178],"to":[32,75,134,145,157,179],"model":[33,55],"humanoid":[35,65,90],"having":[37],"25-DOFs":[38],"based":[39,125],"on":[40,99,126],"common":[41],"European":[42],"male":[43],"(75":[44],"kg,":[45],"1.78":[46],"m).":[47],"Using":[48],"human":[49],"being":[50],"motion":[51],"recording,":[52],"foot/ground":[53],"contact":[54],"and":[56,80,143],"inverse":[57],"kinematics,":[58],"carried":[67],"out.":[68],"Scale":[69],"factorization":[70],"in":[73,155],"order":[74,156],"reach":[76],"weight":[79],"height.":[81],"A":[82,119,150],"size":[89],"gives":[91],"effort":[93],"wrench":[94,111],"exerted":[95],"by":[96],"torso":[98],"lower":[101],"limbs.":[102],"An":[103],"analysis":[104],"six":[107],"components":[108],"shows":[112],"existence":[114],"two":[116],"coupling":[117],"relations.":[118],"study":[120],"four":[122,139],"DOFs":[123,140],"mechanisms":[124],"general":[128],"state":[129],"equation":[130],"formalism":[131],"leads":[132],"us":[133],"an":[135],"interesting":[136],"result.":[137],"Indeed,":[138],"are":[141,171],"necessary":[142],"sufficient":[144],"emulate":[146],"effects.":[149],"RPPP":[151],"mechanism":[152],"presented":[154],"replace":[158],"Robian's":[159],"upper":[160],"part.":[161],"Results":[162],"16-DOFs":[168],"resulting":[169],"presented.":[172],"ZMP":[174],"control":[175],"algorithm":[176],"ensure":[180],"stability":[182],"during":[186],"gait.":[188]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}