{"id":"https://openalex.org/W2133220762","doi":"https://doi.org/10.1145/2185520.2185521","title":"Optimizing locomotion controllers using biologically-based actuators and objectives","display_name":"Optimizing locomotion controllers using biologically-based actuators and objectives","publication_year":2012,"publication_date":"2012-07-01","ids":{"openalex":"https://openalex.org/W2133220762","doi":"https://doi.org/10.1145/2185520.2185521","mag":"2133220762","pmid":"https://pubmed.ncbi.nlm.nih.gov/26251560"},"language":"en","primary_location":{"id":"doi:10.1145/2185520.2185521","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2185520.2185521","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5047322092","display_name":"Jack M. Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jack M. Wang","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035909127","display_name":"Samuel R. Hamner","orcid":"https://orcid.org/0000-0002-0465-4285"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel R. Hamner","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044061507","display_name":"Scott L. Delp","orcid":"https://orcid.org/0000-0002-9643-7551"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scott L. Delp","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006181255","display_name":"Vladlen Koltun","orcid":"https://orcid.org/0000-0003-0858-0970"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vladlen Koltun","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5047322092"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":36.8579,"has_fulltext":false,"cited_by_count":275,"citation_normalized_percentile":{"value":0.99839135,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"31","issue":"4","first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9993000030517578,"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/T11349","display_name":"Music Technology and Sound Studies","score":0.9876000285148621,"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/computer-science","display_name":"Computer science","score":0.6426050662994385},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6109318733215332},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5388903021812439},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5379757285118103},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5043896436691284},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5033456683158875},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.45272424817085266},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.437751442193985},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39439547061920166},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3282162547111511},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32751139998435974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2940882444381714},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16985708475112915},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.11175569891929626}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6426050662994385},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6109318733215332},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5388903021812439},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5379757285118103},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5043896436691284},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5033456683158875},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.45272424817085266},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.437751442193985},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39439547061920166},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3282162547111511},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32751139998435974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2940882444381714},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16985708475112915},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.11175569891929626},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","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}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1145/2185520.2185521","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2185520.2185521","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},{"id":"pmid:26251560","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26251560","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM transactions on graphics","raw_type":null},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.374.125","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.374.125","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://vladlen.info/papers/biolocomotion.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.374.4172","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.374.4172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://vladlen.info/papers/biolocomotion-supplement.pdf","raw_type":"text"},{"id":"pmh:oai:europepmc.org:3504049","is_oa":false,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4523558","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":"Text"},{"id":"pmh:oai:hub.hku.hk:10722/192723","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/192723","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1381484493","display_name":null,"funder_award_id":"IIS-1017938CNS-0619926","funder_id":"https://openalex.org/F4320337389","funder_display_name":"Division of Information and Intelligent Systems"},{"id":"https://openalex.org/G5353683668","display_name":null,"funder_award_id":"IIS-1017938CNS-0619926","funder_id":"https://openalex.org/F4320337388","funder_display_name":"Division of Computer and Network Systems"},{"id":"https://openalex.org/G901612133","display_name":null,"funder_award_id":"U54 GM072970R24 HD065690R01 HD033929","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337388","display_name":"Division of Computer and Network Systems","ror":"https://ror.org/02rdzmk74"},{"id":"https://openalex.org/F4320337389","display_name":"Division of Information and Intelligent Systems","ror":"https://ror.org/053a2cp42"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W1526473519","https://openalex.org/W1549114171","https://openalex.org/W1589503602","https://openalex.org/W1964965610","https://openalex.org/W1966784014","https://openalex.org/W1966961990","https://openalex.org/W1974420726","https://openalex.org/W1979995593","https://openalex.org/W1981932940","https://openalex.org/W1997784612","https://openalex.org/W2001165022","https://openalex.org/W2008342119","https://openalex.org/W2012305882","https://openalex.org/W2014191197","https://openalex.org/W2018571963","https://openalex.org/W2022890264","https://openalex.org/W2027192020","https://openalex.org/W2027367579","https://openalex.org/W2029058516","https://openalex.org/W2031805060","https://openalex.org/W2033299989","https://openalex.org/W2034579881","https://openalex.org/W2036407851","https://openalex.org/W2043878167","https://openalex.org/W2059486229","https://openalex.org/W2064488391","https://openalex.org/W2066957584","https://openalex.org/W2071307076","https://openalex.org/W2072118986","https://openalex.org/W2078397531","https://openalex.org/W2079533635","https://openalex.org/W2089528820","https://openalex.org/W2094217503","https://openalex.org/W2095661097","https://openalex.org/W2097723835","https://openalex.org/W2100848671","https://openalex.org/W2105637477","https://openalex.org/W2106194774","https://openalex.org/W2110194613","https://openalex.org/W2115887468","https://openalex.org/W2120003827","https://openalex.org/W2120894402","https://openalex.org/W2123236823","https://openalex.org/W2124438859","https://openalex.org/W2129224530","https://openalex.org/W2132172443","https://openalex.org/W2132946026","https://openalex.org/W2150513221","https://openalex.org/W2151817313","https://openalex.org/W2151866020","https://openalex.org/W2161759480","https://openalex.org/W2163408698","https://openalex.org/W2236592196","https://openalex.org/W4205985701","https://openalex.org/W4214746323","https://openalex.org/W4233647963","https://openalex.org/W4241522606","https://openalex.org/W4249826353","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2053950117","https://openalex.org/W3029575091","https://openalex.org/W4386008762","https://openalex.org/W2536657158","https://openalex.org/W2085797056","https://openalex.org/W2027366028","https://openalex.org/W2099333796","https://openalex.org/W2329643775","https://openalex.org/W3145923612","https://openalex.org/W1999058329"],"abstract_inverted_index":{"We":[0,69],"present":[1],"a":[2,26,54,62,104],"technique":[3],"for":[4,11,115],"automatically":[5],"synthesizing":[6],"walking":[7,117],"and":[8,20,77,98,106,118],"running":[9,119],"controllers":[10,88],"physically-simulated":[12],"3D":[13],"humanoid":[14],"characters.":[15],"The":[16,40],"sagittal":[17],"hip,":[18],"knee,":[19],"ankle":[21],"degrees-of-freedom":[22],"are":[23,46],"actuated":[24],"using":[25],"set":[27,47],"of":[28,42,56,65,74,83,94,109],"eight":[29],"Hill-type":[30],"musculotendon":[31],"models":[32],"in":[33],"each":[34],"leg,":[35],"with":[36],"biologically-motivated":[37],"control":[38,44,120],"laws.":[39],"parameters":[41],"these":[43],"laws":[45],"by":[48,86],"an":[49],"optimization":[50],"procedure":[51],"that":[52,71,89,99,111],"satisfies":[53],"number":[55],"locomotion":[57,87],"task":[58],"terms":[59],"while":[60],"minimizing":[61],"biological":[63],"model":[64],"metabolic":[66,100],"energy":[67,101],"expenditure.":[68],"show":[70],"the":[72,81,92],"use":[73,93],"biologically-based":[75],"actuators":[76],"objectives":[78],"measurably":[79],"increases":[80],"realism":[82],"gaits":[84],"generated":[85],"operate":[90],"without":[91],"motion":[95],"capture":[96],"data,":[97],"expenditure":[102],"provides":[103],"simple":[105],"unifying":[107],"measurement":[108],"effort":[110],"can":[112],"be":[113],"used":[114],"both":[116],"optimization.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":27},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":28},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":28},{"year":2017,"cited_by_count":26},{"year":2016,"cited_by_count":23},{"year":2015,"cited_by_count":23},{"year":2014,"cited_by_count":18},{"year":2013,"cited_by_count":22},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
