{"id":"https://openalex.org/W2167210454","doi":"https://doi.org/10.1109/robot.2005.1570469","title":"Poincar\u00e9-Map-Based Reinforcement Learning For Biped Walking","display_name":"Poincar\u00e9-Map-Based Reinforcement Learning For Biped Walking","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2167210454","doi":"https://doi.org/10.1109/robot.2005.1570469","mag":"2167210454"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570469","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/Poincare-Map-Based_Reinforcement_Learning_for_Biped_Walking/6558215","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025458882","display_name":"Jun Morimoto","orcid":"https://orcid.org/0000-0002-4115-1919"},"institutions":[{"id":"https://openalex.org/I46980622","display_name":"Kyoto Seika University","ror":"https://ror.org/05g4f0342","country_code":"JP","type":"education","lineage":["https://openalex.org/I46980622"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Morimoto","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan","Computational Brain Project, ICORP, Japan Science and Technology Corporation, Seika, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan","institution_ids":["https://openalex.org/I46980622"]},{"raw_affiliation_string":"Computational Brain Project, ICORP, Japan Science and Technology Corporation, Seika, Kyoto, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103273860","display_name":"Jun Nakanishi","orcid":"https://orcid.org/0000-0001-9026-6440"},"institutions":[{"id":"https://openalex.org/I46980622","display_name":"Kyoto Seika University","ror":"https://ror.org/05g4f0342","country_code":"JP","type":"education","lineage":["https://openalex.org/I46980622"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Nakanishi","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan","Computational Brain Project, ICORP, Japan Science and Technology Corporation, Seika, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan","institution_ids":["https://openalex.org/I46980622"]},{"raw_affiliation_string":"Computational Brain Project, ICORP, Japan Science and Technology Corporation, Seika, Kyoto, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]},{"id":"https://openalex.org/I46980622","display_name":"Kyoto Seika University","ror":"https://ror.org/05g4f0342","country_code":"JP","type":"education","lineage":["https://openalex.org/I46980622"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan","Sony Intelligence Dynamics Laboratories, Inc., Seika, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan","institution_ids":["https://openalex.org/I46980622"]},{"raw_affiliation_string":"Sony Intelligence Dynamics Laboratories, Inc., Seika, Kyoto, Japan","institution_ids":["https://openalex.org/I4210122684"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048975019","display_name":"Gordon Cheng","orcid":"https://orcid.org/0000-0003-0770-8717"},"institutions":[{"id":"https://openalex.org/I46980622","display_name":"Kyoto Seika University","ror":"https://ror.org/05g4f0342","country_code":"JP","type":"education","lineage":["https://openalex.org/I46980622"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"G. Cheng","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan","Computational Brain Project, ICORP, Japan Science and Technology Corporation, Seika, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan","institution_ids":["https://openalex.org/I46980622"]},{"raw_affiliation_string":"Computational Brain Project, ICORP, Japan Science and Technology Corporation, Seika, Kyoto, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055330939","display_name":"Christopher G. Atkeson","orcid":"https://orcid.org/0000-0003-4265-8452"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C.G. Atkeson","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068614605","display_name":"Garth Zeglin","orcid":"https://orcid.org/0000-0002-6680-4787"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G. Zeglin","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.5388,"has_fulltext":true,"cited_by_count":60,"citation_normalized_percentile":{"value":0.99039511,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2381","last_page":"2386"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10621","display_name":"Gene Regulatory Network Analysis","score":0.9372000098228455,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7513811588287354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6974650621414185},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.6660529375076294},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6630813479423523},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.6627868413925171},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5102252960205078},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.47783327102661133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46540504693984985},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45163944363594055},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3985758423805237},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3207649886608124},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11574092507362366}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7513811588287354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6974650621414185},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.6660529375076294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6630813479423523},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.6627868413925171},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5102252960205078},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.47783327102661133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46540504693984985},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45163944363594055},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3985758423805237},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3207649886608124},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11574092507362366},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.0}],"mesh":[],"locations_count":9,"locations":[{"id":"doi:10.1109/robot.2005.1570469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570469","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:figshare.com:article/6558215","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Poincare-Map-Based_Reinforcement_Learning_for_Biped_Walking/6558215","pdf_url":"https://figshare.com/articles/Poincare-Map-Based_Reinforcement_Learning_for_Biped_Walking/6558215","source":{"id":"https://openalex.org/S4306402621","display_name":"INDIGO (University of Illinois at Chicago)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39422238","host_organization_name":"University of Illinois Chicago","host_organization_lineage":["https://openalex.org/I39422238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:repository.cmu.edu:robotics-1073","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1073&context=robotics","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub 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":"Robotics Institute","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6558215","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.120.7587","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.120.7587","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/~cga/legs/xmorimo-icra05.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.71.9084","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.71.9084","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub4/morimoto_jun_2005_1/morimoto_jun_2005_1.pdf","raw_type":"text"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1545479","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1545479","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:50035388","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100560500","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"},{"id":"doi:10.1184/r1/6558215.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6558215.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub 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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"JournalArticle"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6558215","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Poincare-Map-Based_Reinforcement_Learning_for_Biped_Walking/6558215","pdf_url":"https://figshare.com/articles/Poincare-Map-Based_Reinforcement_Learning_for_Biped_Walking/6558215","source":{"id":"https://openalex.org/S4306402621","display_name":"INDIGO (University of Illinois at Chicago)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39422238","host_organization_name":"University of Illinois Chicago","host_organization_lineage":["https://openalex.org/I39422238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G1373100644","display_name":"ITR: Collaborative Research: Using Humanoids to Understand Humans","funder_award_id":"0325383","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5357201954","display_name":"Collaborative Research Resources: An Experimental Platform for Humanoid Robotics Research","funder_award_id":"0224419","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320311508","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2167210454.pdf","grobid_xml":"https://content.openalex.org/works/W2167210454.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W658381347","https://openalex.org/W1885639605","https://openalex.org/W1994923984","https://openalex.org/W2025752438","https://openalex.org/W2039091159","https://openalex.org/W2082872327","https://openalex.org/W2098523767","https://openalex.org/W2109008048","https://openalex.org/W2109910161","https://openalex.org/W2111527309","https://openalex.org/W2111999018","https://openalex.org/W2113501460","https://openalex.org/W2121863487","https://openalex.org/W2142992961","https://openalex.org/W2150714400","https://openalex.org/W2153917213","https://openalex.org/W2155027007","https://openalex.org/W2155307968","https://openalex.org/W2161427949","https://openalex.org/W2167804690","https://openalex.org/W2331734107","https://openalex.org/W4214717370","https://openalex.org/W4295133295","https://openalex.org/W6683204974"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W4281395624","https://openalex.org/W2351684991","https://openalex.org/W1561345858","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2039317814","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2102637731"],"abstract_inverted_index":{"We":[0,89,104],"propose":[1],"a":[2,53,69,81,95],"model-based":[3],"reinforcement":[4],"learning":[5,36],"algorithm":[6,37],"for":[7],"biped":[8,102],"walking":[9,20,28,46,63,108],"in":[10,71,83],"which":[11],"the":[12,26,31,39,57,61,72,77,84],"robot":[13,97],"learns":[14],"to":[15,44,80,93],"appropriately":[16],"modulate":[17],"an":[18,100],"observed":[19,27],"pattern.":[21,64],"Via-points":[22],"are":[23,110],"detected":[24],"from":[25,68],"trajectories":[29],"using":[30],"minimum":[32],"jerk":[33],"criterion.":[34],"The":[35,65],"modulates":[38],"via-points":[40],"as":[41],"control":[42,78],"actions":[43,79],"improve":[45],"trajectories.":[47],"This":[48],"decision":[49],"is":[50],"based":[51],"on":[52],"learned":[54],"model":[55,66,98],"of":[56,60],"Poincar\u00e9":[58],"map":[59],"periodic":[62],"maps":[67],"state":[70,82],"single":[73,86],"support":[74,87],"phase":[75],"and":[76,99],"next":[85],"phase.":[88],"applied":[90],"this":[91],"approach":[92],"both":[94],"simulated":[96],"actual":[101],"robot.":[103],"show":[105],"that":[106],"successful":[107],"policies":[109],"acquired.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":7}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
