{"id":"https://openalex.org/W1978721729","doi":"https://doi.org/10.1109/robot.2010.5509780","title":"HRP-2 plays the yoyo: From human to humanoid yoyo playing using optimal control","display_name":"HRP-2 plays the yoyo: From human to humanoid yoyo playing using optimal control","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W1978721729","doi":"https://doi.org/10.1109/robot.2010.5509780","mag":"1978721729"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509780","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509780","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/HRP-2_plays_the_yoyo_From_human_to_humanoid_yoyo_playing_using_optimal_control/27720534","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042406934","display_name":"Katja Mombaur","orcid":"https://orcid.org/0000-0003-1353-0943"},"institutions":[{"id":"https://openalex.org/I118019719","display_name":"Roche (Switzerland)","ror":"https://ror.org/00by1q217","country_code":"CH","type":"company","lineage":["https://openalex.org/I118019719"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["CH","FR"],"is_corresponding":false,"raw_author_name":"Katja Mombaur","raw_affiliation_strings":["LAAS, CNRS, Toulouse, France","LAAS\u2010CNRS, 7 avenue du Colonel Roche, 31077 Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS\u2010CNRS, 7 avenue du Colonel Roche, 31077 Toulouse, France","institution_ids":["https://openalex.org/I118019719","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046892759","display_name":"Manish Sreenivasa","orcid":"https://orcid.org/0000-0002-0979-5706"},"institutions":[{"id":"https://openalex.org/I118019719","display_name":"Roche (Switzerland)","ror":"https://ror.org/00by1q217","country_code":"CH","type":"company","lineage":["https://openalex.org/I118019719"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["CH","FR"],"is_corresponding":false,"raw_author_name":"Manish N Sreenivasa","raw_affiliation_strings":["LAAS, CNRS, Toulouse, France","LAAS\u2010CNRS, 7 avenue du Colonel Roche, 31077 Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS\u2010CNRS, 7 avenue du Colonel Roche, 31077 Toulouse, France","institution_ids":["https://openalex.org/I118019719","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3369","last_page":"3376"},"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9186999797821045,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell 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"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9121999740600586,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7585917711257935},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7460634708404541},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5453135967254639},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4850117862224579},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.440502405166626},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4305265545845032},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3477432429790497},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1338517963886261},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.07422056794166565}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7585917711257935},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7460634708404541},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5453135967254639},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4850117862224579},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.440502405166626},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4305265545845032},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3477432429790497},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1338517963886261},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.07422056794166565}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509780","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509780","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:ro.uow.edu.au:eispapers1-2598","is_oa":false,"landing_page_url":"https://ro.uow.edu.au/eispapers1/1596","pdf_url":null,"source":{"id":"https://openalex.org/S4306400510","display_name":"Research Online (University of Wollongong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I204824540","host_organization_name":"University of Wollongong","host_organization_lineage":["https://openalex.org/I204824540"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty of Engineering and Information Sciences - Papers: Part B","raw_type":"presentation"},{"id":"pmh:oai:figshare.com:article/27720534","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/HRP-2_plays_the_yoyo_From_human_to_humanoid_yoyo_playing_using_optimal_control/27720534","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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 contribution"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/27720534","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/HRP-2_plays_the_yoyo_From_human_to_humanoid_yoyo_playing_using_optimal_control/27720534","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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 contribution"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W188963240","https://openalex.org/W1510918013","https://openalex.org/W1562460111","https://openalex.org/W1787545928","https://openalex.org/W1969354366","https://openalex.org/W2022470048","https://openalex.org/W2036484113","https://openalex.org/W2137959099","https://openalex.org/W2156481835","https://openalex.org/W2167418622","https://openalex.org/W2170107068","https://openalex.org/W2545326092","https://openalex.org/W6630510879","https://openalex.org/W6633748999"],"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/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W1589423663","https://openalex.org/W2143454724"],"abstract_inverted_index":{"Yoyo":[0],"playing":[1,51,82],"may":[2],"seem":[3],"easy":[4],"for":[5,14,27],"a":[6,11,15],"human,":[7],"but":[8],"it":[9],"is":[10],"challenging":[12],"problem":[13],"humanoid":[16,29],"robot.":[17],"This":[18],"paper":[19],"presents":[20],"an":[21],"approach":[22],"to":[23],"generate":[24],"yoyo":[25,38,50,56,71,81,93],"motions":[26,94,108],"the":[28,64,96,113],"robot,":[30],"HRP-2,":[31],"based":[32],"on":[33,89,112],"motion":[34],"recorded":[35,48],"from":[36,85],"human":[37,80],"playing,":[39],"dynamical":[40],"models":[41],"and":[42,58,76,117],"numerical":[43],"optimal":[44,104],"control":[45,77,121],"techniques.":[46],"We":[47],"vertical":[49],"of":[52,79,99],"4":[53],"subjects":[54],"measuring":[55],"height":[57],"rotation":[59],"angle":[60],"as":[61,63],"well":[62],"corresponding":[65],"hand":[66],"motions.":[67],"A":[68],"detailed":[69],"multi-phase":[70],"model":[72],"with":[73],"impact":[74],"collisions":[75],"patterns":[78],"were":[83,101],"identified":[84],"these":[86],"measurements.":[87],"Based":[88],"this":[90],"knowledge,":[91],"reliable":[92],"within":[95],"feasibility":[97],"ranges":[98],"HRP-2":[100],"generated":[102],"using":[103,115],"control.":[105],"The":[106],"resulting":[107],"have":[109],"been":[110],"implemented":[111],"robot":[114],"open-loop":[116,120],"event-based":[118],"quasi":[119],"strategies.":[122]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
