{"id":"https://openalex.org/W2003584832","doi":"https://doi.org/10.1145/2661229.2661233","title":"Locomotion control for many-muscle humanoids","display_name":"Locomotion control for many-muscle humanoids","publication_year":2014,"publication_date":"2014-11-18","ids":{"openalex":"https://openalex.org/W2003584832","doi":"https://doi.org/10.1145/2661229.2661233","mag":"2003584832"},"language":"en","primary_location":{"id":"doi:10.1145/2661229.2661233","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2661229.2661233","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"],"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/A5103146890","display_name":"Yoonsang Lee","orcid":"https://orcid.org/0000-0002-0579-5987"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yoonsang Lee","raw_affiliation_strings":["Seoul National University and Samsung Electronics Co., Ltd","Seoul National University and Samsung Electronics Co., Ltd.#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University and Samsung Electronics Co., Ltd","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Seoul National University and Samsung Electronics Co., Ltd.#TAB#","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061819139","display_name":"Moon Seok Park","orcid":"https://orcid.org/0000-0002-2856-7522"},"institutions":[{"id":"https://openalex.org/I2803058125","display_name":"Seoul National University Bundang Hospital","ror":"https://ror.org/00cb3km46","country_code":"KR","type":"healthcare","lineage":["https://openalex.org/I139264467","https://openalex.org/I2802835388","https://openalex.org/I2803058125"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Moon Seok Park","raw_affiliation_strings":["Seoul National University Bundang Hospital","[Seoul National University Bundang Hospital]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University Bundang Hospital","institution_ids":["https://openalex.org/I2803058125"]},{"raw_affiliation_string":"[Seoul National University Bundang Hospital]","institution_ids":["https://openalex.org/I2803058125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044269840","display_name":"Taesoo Kwon","orcid":"https://orcid.org/0000-0002-9253-2156"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Taesoo Kwon","raw_affiliation_strings":["Hanyang University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hanyang University","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100366271","display_name":"Jehee Lee","orcid":"https://orcid.org/0000-0003-1023-1868"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jehee Lee","raw_affiliation_strings":["Seoul National University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.6565,"has_fulltext":false,"cited_by_count":98,"citation_normalized_percentile":{"value":0.97209983,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"33","issue":"6","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":0.9998000264167786,"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":0.9998000264167786,"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":0.9988999962806702,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9937000274658203,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7244545221328735},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6962869167327881},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6370488405227661},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.57254958152771},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49107956886291504},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44235628843307495},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3384263515472412},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3301199674606323},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2198503613471985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21626359224319458}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7244545221328735},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6962869167327881},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6370488405227661},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.57254958152771},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49107956886291504},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44235628843307495},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3384263515472412},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3301199674606323},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2198503613471985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21626359224319458},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/2661229.2661233","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2661229.2661233","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":"pmh:oai:s-space.snu.ac.kr:10371/192020","is_oa":false,"landing_page_url":"https://hdl.handle.net/10371/192020","pdf_url":null,"source":{"id":"https://openalex.org/S4306401345","display_name":"Seoul National University Open Repository (Seoul National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139264467","host_organization_name":"Seoul National University","host_organization_lineage":["https://openalex.org/I139264467"],"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":[{"score":0.4099999964237213,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1203491749","display_name":null,"funder_award_id":"2007-0056094","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G8182479147","display_name":null,"funder_award_id":"2011-0018340","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W1549114171","https://openalex.org/W1964965610","https://openalex.org/W1966784014","https://openalex.org/W1973998728","https://openalex.org/W1974420726","https://openalex.org/W2001165022","https://openalex.org/W2005639253","https://openalex.org/W2018571963","https://openalex.org/W2020340281","https://openalex.org/W2022890264","https://openalex.org/W2033299989","https://openalex.org/W2034108388","https://openalex.org/W2037277559","https://openalex.org/W2047842611","https://openalex.org/W2054857883","https://openalex.org/W2064488391","https://openalex.org/W2066957584","https://openalex.org/W2072118986","https://openalex.org/W2074276081","https://openalex.org/W2076806230","https://openalex.org/W2079533635","https://openalex.org/W2089059393","https://openalex.org/W2089528820","https://openalex.org/W2094217503","https://openalex.org/W2104232275","https://openalex.org/W2114069554","https://openalex.org/W2114106563","https://openalex.org/W2115455197","https://openalex.org/W2120003827","https://openalex.org/W2120894402","https://openalex.org/W2130281033","https://openalex.org/W2133220762","https://openalex.org/W2135174216","https://openalex.org/W2136621952","https://openalex.org/W2140190473","https://openalex.org/W2141735805","https://openalex.org/W2151817313","https://openalex.org/W2151906934","https://openalex.org/W2161759480","https://openalex.org/W2164288353","https://openalex.org/W2582765108","https://openalex.org/W4205985701","https://openalex.org/W4241335442","https://openalex.org/W4242577313"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2564804538","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W2100910774"],"abstract_inverted_index":{"We":[0,102],"present":[1],"a":[2,13,64],"biped":[3,32,68],"locomotion":[4,33],"controller":[5,22,60,110],"for":[6],"humanoid":[7],"models":[8,121],"actuated":[9],"by":[10],"more":[11],"than":[12],"hundred":[14],"Hill-type":[15,41],"muscles.":[16,124],"The":[17],"key":[18],"component":[19],"of":[20,38,66,108],"the":[21,36,80,104],"is":[23],"our":[24,109],"novel":[25],"algorithm":[26],"that":[27,113],"can":[28,61,114],"cope":[29],"with":[30,111,122],"step-based":[31],"balancing":[34],"and":[35,55,75,78,91,94,99,106],"coordination":[37],"many":[39,123],"nonlinear":[40],"muscles":[42],"simultaneously.":[43],"Minimum":[44],"effort":[45],"muscle":[46,52,86],"activations":[47],"are":[48],"calculated":[49],"based":[50],"on":[51],"contraction":[53],"dynamics":[54],"online":[56],"quadratic":[57],"programming.":[58],"Our":[59],"faithfully":[62],"reproduce":[63],"variety":[65],"realistic":[67],"gaits":[69,81],"(e.g.,":[70,85,96],"normal":[71],"walk,":[72],"quick":[73],"steps,":[74],"fast":[76],"run)":[77],"adapt":[79],"to":[82],"varying":[83],"conditions":[84],"weakness,":[87],"tightness,":[88],"joint":[89],"dislocation,":[90],"external":[92],"pushes)":[93],"goals":[95],"pain":[97],"reduction":[98],"efficiency":[100],"maximization).":[101],"demonstrate":[103],"robustness":[105],"versatility":[107],"examples":[112],"only":[115],"be":[116],"achieved":[117],"using":[118],"highly-detailed":[119],"musculoskeletal":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":17},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":6}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}