{"id":"https://openalex.org/W2163710515","doi":"https://doi.org/10.1145/1077534.1077542","title":"Animating reactive motions for biped locomotion","display_name":"Animating reactive motions for biped locomotion","publication_year":2004,"publication_date":"2004-11-10","ids":{"openalex":"https://openalex.org/W2163710515","doi":"https://doi.org/10.1145/1077534.1077542","mag":"2163710515"},"language":"en","primary_location":{"id":"doi:10.1145/1077534.1077542","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1077534.1077542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM symposium on Virtual reality software and technology","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/A5014324841","display_name":"Taku Komura","orcid":"https://orcid.org/0000-0002-2729-5860"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Taku Komura","raw_affiliation_strings":["City University of Hong Kong, Kowloon, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of Hong Kong, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001617092","display_name":"Howard Leung","orcid":"https://orcid.org/0000-0002-2633-2965"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Howard Leung","raw_affiliation_strings":["City University of Hong Kong, Kowloon, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of Hong Kong, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021782513","display_name":"James Kuffner","orcid":null},"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":"James Kuffner","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.8637,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.97196597,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"32","last_page":"40"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11439","display_name":"Video Analysis and Summarization","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.712985098361969},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6610759496688843},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6595779657363892},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.6441144943237305},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6197500228881836},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.5826141834259033},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5620455145835876},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5590624809265137},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.48590174317359924},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.4797400236129761},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4564400613307953},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4552028775215149},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.42712903022766113},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4141896963119507},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41303524374961853},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21434548497200012},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21348285675048828},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19220495223999023},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.15840250253677368},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1553698182106018}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.712985098361969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6610759496688843},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6595779657363892},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.6441144943237305},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6197500228881836},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.5826141834259033},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5620455145835876},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5590624809265137},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48590174317359924},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.4797400236129761},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4564400613307953},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4552028775215149},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.42712903022766113},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4141896963119507},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41303524374961853},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21434548497200012},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21348285675048828},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19220495223999023},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.15840250253677368},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1553698182106018},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/1077534.1077542","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1077534.1077542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM symposium on Virtual reality software and technology","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1964847255","https://openalex.org/W2017913224","https://openalex.org/W2073531546","https://openalex.org/W2078397531","https://openalex.org/W2083334152","https://openalex.org/W2086637623","https://openalex.org/W2104282725","https://openalex.org/W2106863585","https://openalex.org/W2110333752","https://openalex.org/W2120894402","https://openalex.org/W2123477693","https://openalex.org/W2125298102","https://openalex.org/W2137267908","https://openalex.org/W2152873433","https://openalex.org/W2247191580","https://openalex.org/W2248685949","https://openalex.org/W2249800031","https://openalex.org/W2293545866","https://openalex.org/W2293741035","https://openalex.org/W2336236730","https://openalex.org/W2741744871","https://openalex.org/W3142707146","https://openalex.org/W4231947169","https://openalex.org/W4234688238","https://openalex.org/W4242737140","https://openalex.org/W4246555273","https://openalex.org/W4248876013","https://openalex.org/W4252718184"],"related_works":["https://openalex.org/W2129754669","https://openalex.org/W2600116237","https://openalex.org/W2186639602","https://openalex.org/W2000932381","https://openalex.org/W4313056043","https://openalex.org/W2661345901","https://openalex.org/W2181837138","https://openalex.org/W2169426407","https://openalex.org/W2799562489","https://openalex.org/W2572731987"],"abstract_inverted_index":{"In":[0],"this":[1,213],"paper,":[2],"we":[3],"propose":[4],"a":[5,76,104,196,204],"new":[6],"method":[7,163],"for":[8,12,29,107,173,218],"simulating":[9],"reactive":[10,43,105,171],"motions":[11,44,172],"running":[13,37,205],"or":[14,38,78,206],"walking":[15,207],"human":[16,209,219],"figures.":[17],"The":[18,100,159],"goal":[19],"is":[20,95,164,167],"to":[21,56,81,97,169,198,203,215],"generate":[22],"realistic":[23],"animations":[24,220],"of":[25,45,75,110,118,124,133,142,145,161,235],"how":[26],"humans":[27],"compensate":[28],"large":[30],"external":[31,58,93,201],"forces":[32,60],"and":[33,50,112,150,230],"maintain":[34],"balance":[35,178],"while":[36],"walking.":[39],"We":[40,187,211],"simulate":[41],"the":[42,47,62,68,84,89,98,108,116,125,131,134,139,143,233],"adjusting":[46],"body":[48],"configuration":[49],"altering":[51],"footfall":[52],"locations":[53],"in":[54,221],"response":[55],"sudden":[57],"disturbance":[59],"on":[61,191],"body.":[63,99],"With":[64],"our":[65,162,189],"proposed":[66],"method,":[67],"user":[69,197],"first":[70],"imports":[71],"captured":[72],"motion":[73,106],"data":[74],"run":[77],"walk":[79],"cycle":[80],"use":[82],"as":[83,226],"primary":[85,90],"motion.":[86],"While":[87],"executing":[88],"motion,":[91],"an":[92,121,192],"force":[94],"applied":[96],"system":[101],"automatically":[102],"calculates":[103],"center":[109,117,144],"mass":[111,119],"angular":[113,151],"momentum":[114,152],"around":[115],"using":[120,155,184],"enhanced":[122],"version":[123],"linear":[126],"inverted":[127],"pendulum":[128],"model.":[129,210],"Finally,":[130],"trajectories":[132,141],"generalized":[135],"coordinates":[136],"that":[137,165,175,194],"realize":[138],"precalculated":[140],"mass,":[146],"zero":[147],"moment":[148],"point,":[149],"are":[153],"obtained":[154],"constrained":[156],"inverse":[157],"kinematics.":[158],"advantage":[160],"it":[166],"possible":[168],"calculate":[170],"bipeds":[174],"preserve":[176],"dynamic":[177],"during":[179],"locomotion,":[180],"which":[181],"was":[182],"difficult":[183],"previous":[185],"techniques.":[186],"demonstrate":[188],"results":[190],"application":[193],"allows":[195],"interactively":[199],"apply":[200],"perturbations":[202],"virtual":[208,228],"expect":[212],"technique":[214],"be":[216],"useful":[217],"interactive":[222],"3D":[223],"systems":[224],"such":[225],"games,":[227],"reality,":[229],"potentially":[231],"even":[232],"control":[234],"actual":[236],"biped":[237],"robots.":[238]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
