{"id":"https://openalex.org/W2166381933","doi":"https://doi.org/10.1109/tro.2010.2082110","title":"Comments on \"An Optimality Principle Governing Human Walking","display_name":"Comments on \"An Optimality Principle Governing Human Walking","publication_year":2010,"publication_date":"2010-11-17","ids":{"openalex":"https://openalex.org/W2166381933","doi":"https://doi.org/10.1109/tro.2010.2082110","mag":"2166381933"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2010.2082110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2082110","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5090037830","display_name":"Timothy Bretl","orcid":"https://orcid.org/0000-0001-7883-7300"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"T Bretl","raw_affiliation_strings":["Department of AeroSpace Engineering, University of Illinois, Urbana, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, University of Illinois, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036640538","display_name":"Gustavo Arechavaleta","orcid":"https://orcid.org/0000-0002-5455-9681"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]},{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"G Arechavaleta","raw_affiliation_strings":["Centro de Investigaciones y Estudios Avanzados del IPN, Mexicali, Mexico"],"affiliations":[{"raw_affiliation_string":"Centro de Investigaciones y Estudios Avanzados del IPN, Mexicali, Mexico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068126746","display_name":"Abdullah Akce","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A Akce","raw_affiliation_strings":["Department of Computer Science, University of Illinois, Urbana-Champaign, Urbana, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Illinois, Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109119997","display_name":"J.-P. Laumond","orcid":null},"institutions":[{"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/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J P Laumond","raw_affiliation_strings":["Laboratoire d Analyse et d Architecture des Syst\u00e8mes, Centre National de la Recherche Scientifique, University of Toulouse, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire d Analyse et d Architecture des Syst\u00e8mes, Centre National de la Recherche Scientifique, University of Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5090037830"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":0.2111,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61251,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"26","issue":"6","first_page":"1105","last_page":"1106"},"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/T10982","display_name":"Motor Control and Adaptation","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9801999926567078,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5901976227760315},{"id":"https://openalex.org/keywords/maximum-principle","display_name":"Maximum principle","score":0.5429044365882874},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5283792018890381},{"id":"https://openalex.org/keywords/variation","display_name":"Variation (astronomy)","score":0.5250266194343567},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4697321653366089},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4515326917171478},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44685086607933044},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4328917860984802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4304961562156677},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3766372501850128},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31795963644981384},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09785008430480957},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07134982943534851}],"concepts":[{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5901976227760315},{"id":"https://openalex.org/C31010330","wikidata":"https://www.wikidata.org/wiki/Q1914255","display_name":"Maximum principle","level":3,"score":0.5429044365882874},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5283792018890381},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.5250266194343567},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4697321653366089},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4515326917171478},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44685086607933044},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4328917860984802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4304961562156677},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3766372501850128},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31795963644981384},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09785008430480957},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07134982943534851},{"id":"https://openalex.org/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2010.2082110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2082110","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1587799944","https://openalex.org/W1982369156","https://openalex.org/W2106737440","https://openalex.org/W2334591577","https://openalex.org/W3206777520"],"related_works":["https://openalex.org/W2962746246","https://openalex.org/W1967384683","https://openalex.org/W4292923857","https://openalex.org/W4302321938","https://openalex.org/W2618936491","https://openalex.org/W4285534277","https://openalex.org/W162218241","https://openalex.org/W1989531755","https://openalex.org/W3209004265","https://openalex.org/W2031281152"],"abstract_inverted_index":{"The":[0],"paper":[1],"in":[2,37,70],"question":[3],"[G.":[4],"Arechavaleta,":[5],"J.":[6],"P.":[7],"Laumond,":[8],"H.":[9],"Hicheur,":[10],"and":[11,39,73],"A.":[12],"Berthoz,":[13],"\u201cAn":[14],"optimality":[15],"principle":[16],"governing":[17],"human":[18],"walking,\u201d":[19],"IEEE":[20],"Trans.":[21],"Robot.,":[22],"vol.":[23],"24,":[24],"no.":[25],"1,":[26],"pp.":[27],"5-14,":[28],"Feb.":[29],"2008]":[30],"suggested":[31],"that":[32],"human-walking":[33],"paths":[34],"minimize":[35],"variation":[36],"curvature":[38],"hence":[40],"can":[41],"be":[42],"approximated":[43],"by":[44,56],"the":[45,63],"solution":[46],"to":[47],"an":[48],"optimal":[49],"control":[50],"problem.":[51],"This":[52],"conclusion":[53],"was":[54],"reached":[55],"analysis":[57,72],"of":[58],"experimental":[59],"data":[60],"based":[61],"on":[62],"maximum":[64],"principle.":[65],"We":[66],"correct":[67],"two":[68],"errors":[69],"this":[71],"consider":[74],"their":[75],"consequences.":[76]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}