{"id":"https://openalex.org/W2170068381","doi":"https://doi.org/10.1109/robot.2009.5152264","title":"A numerical method for choosing motions with optimal excitation properties for identification of biped dynamics - An application to human","display_name":"A numerical method for choosing motions with optimal excitation properties for identification of biped dynamics - An application to human","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2170068381","doi":"https://doi.org/10.1109/robot.2009.5152264","mag":"2170068381"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5076587308","display_name":"Gentiane Venture","orcid":"https://orcid.org/0000-0001-7767-4765"},"institutions":[{"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":"G. Venture","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"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/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":"K. Ayusawa","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"institutions":[{"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":"Y. Nakamura","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1226","last_page":"1231"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.977400004863739,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9772999882698059,"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/computation","display_name":"Computation","score":0.7209505438804626},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7208845615386963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6889470815658569},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.640331506729126},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5308072566986084},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.49828624725341797},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4167254865169525},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4136929512023926},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41262492537498474},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4083816111087799},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36823198199272156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31382399797439575}],"concepts":[{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.7209505438804626},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7208845615386963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6889470815658569},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.640331506729126},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5308072566986084},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.49828624725341797},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4167254865169525},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4136929512023926},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41262492537498474},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4083816111087799},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36823198199272156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31382399797439575},{"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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1480956810","https://openalex.org/W1501435653","https://openalex.org/W1520476900","https://openalex.org/W1969140852","https://openalex.org/W1999790192","https://openalex.org/W2035587171","https://openalex.org/W2055308405","https://openalex.org/W2078856056","https://openalex.org/W2109098799","https://openalex.org/W2116156665","https://openalex.org/W2119143623","https://openalex.org/W2138113005","https://openalex.org/W2151775748","https://openalex.org/W2154124367","https://openalex.org/W2157513581","https://openalex.org/W2159537373","https://openalex.org/W2169017219","https://openalex.org/W2169564405","https://openalex.org/W2266380092","https://openalex.org/W2322646848","https://openalex.org/W2541358468","https://openalex.org/W2677257205","https://openalex.org/W2710107062","https://openalex.org/W4253669376","https://openalex.org/W4255896957","https://openalex.org/W6631276923","https://openalex.org/W6740103409","https://openalex.org/W6837855470"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151"],"abstract_inverted_index":{"Identification":[0],"results":[1,87,170],"dramatically":[2],"depend":[3],"on":[4,96,116],"the":[5,9,14,46,85,89,97,100,108,117,121,124,130,136,139,158],"excitation":[6],"properties":[7],"of":[8,49,99,103,112,120,129,138,166,175],"motion":[10],"used":[11,56],"to":[12,18,39,45,57,71,82,156],"sample":[13],"identification":[15,86,101],"model.":[16],"Strategies":[17],"define":[19],"persistent":[20,61,73],"exciting":[21,62,74],"trajectories":[22],"have":[23],"been":[24],"developed":[25],"for":[26,142],"manipulator":[27],"robots":[28],"with":[29],"few":[30],"DOF.":[31],"However":[32],"they":[33],"can":[34],"not":[35],"easily":[36],"be":[37],"extended":[38],"humanoid":[40],"systems":[41,105],"and":[42,51,59,88,135],"humans":[43],"due":[44],"important":[47],"number":[48,119,141],"DOF;":[50],"empirical":[52],"knowledge":[53],"is":[54,94,147,153],"often":[55],"generate":[58],"select":[60],"motions.":[63,168],"In":[64],"this":[65],"paper":[66],"we":[67],"propose":[68],"a":[69,127,164],"method":[70,93,125,152],"choose":[72],"motions":[75,176],"from":[76,107,172],"an":[77],"existing":[78],"dataset":[79],"in":[80],"order":[81],"optimize":[83],"both":[84],"computation":[90,137],"time.":[91],"This":[92],"based":[95],"use":[98],"model":[102],"legged":[104],"obtained":[106,171],"base-link":[109],"equations.":[110],"Instead":[111],"using":[113,163],"well-established":[114],"consideration":[115],"condition":[118,140],"regressor":[122,131],"matrix,":[123],"uses":[126],"decomposition":[128],"into":[132],"elementary":[133],"sub-regressors":[134],"each.":[143],"A":[144],"selection":[145],"rule":[146],"then":[148],"proposed.":[149],"The":[150],"overall":[151],"experimentally":[154],"tested":[155],"identify":[157],"human":[159],"body":[160],"inertial":[161],"parameters":[162],"data-set":[165],"40":[167],"Comparative":[169],"different":[173],"combinations":[174],"are":[177],"given.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}