{"id":"https://openalex.org/W2068851522","doi":"https://doi.org/10.1177/0278364913481250","title":"Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach","display_name":"Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach","publication_year":2013,"publication_date":"2013-07-29","ids":{"openalex":"https://openalex.org/W2068851522","doi":"https://doi.org/10.1177/0278364913481250","mag":"2068851522"},"language":"en","primary_location":{"id":"doi:10.1177/0278364913481250","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913481250","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5054706466","display_name":"S\u00e9bastien Dalibard","orcid":null},"institutions":[{"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/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"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":["FR"],"is_corresponding":true,"raw_author_name":"S\u00e9bastien Dalibard","raw_affiliation_strings":["Aldebaran Robotics, Paris, France","CNRS, LAAS, Toulouse, France","Univ de Toulouse, LAAS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aldebaran Robotics, Paris, France","institution_ids":[]},{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ de Toulouse, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105935752","display_name":"Antonio Khoury","orcid":null},"institutions":[{"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/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"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":["FR"],"is_corresponding":false,"raw_author_name":"Antonio El Khoury","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","Univ de Toulouse, LAAS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ de Toulouse, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091327522","display_name":"Florent Lamiraux","orcid":"https://orcid.org/0000-0002-8757-567X"},"institutions":[{"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/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"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":["FR"],"is_corresponding":false,"raw_author_name":"Florent Lamiraux","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","Univ de Toulouse, LAAS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ de Toulouse, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050227531","display_name":"Alireza Nakhaei","orcid":"https://orcid.org/0000-0001-9318-9372"},"institutions":[{"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/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"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":["FR"],"is_corresponding":false,"raw_author_name":"Alireza Nakhaei","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","Univ de Toulouse, LAAS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ de Toulouse, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063956676","display_name":"Michel Ta\u00efx","orcid":"https://orcid.org/0000-0001-7822-1848"},"institutions":[{"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/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"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":["FR"],"is_corresponding":false,"raw_author_name":"Michel Ta\u00efx","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","Univ de Toulouse, LAAS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ de Toulouse, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108497455","display_name":"Jean\u2010Paul Laumond","orcid":null},"institutions":[{"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/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"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":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Paul Laumond","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","Univ de Toulouse, LAAS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ de Toulouse, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5054706466"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":6.5625,"has_fulltext":false,"cited_by_count":80,"citation_normalized_percentile":{"value":0.97170645,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"32","issue":"9-10","first_page":"1089","last_page":"1103"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/humanoid-robot","display_name":"Humanoid robot","score":0.8339072465896606},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7011035084724426},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6480936408042908},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6271931529045105},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6152790784835815},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.603978157043457},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5803025960922241},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.5369060039520264},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41839706897735596},{"id":"https://openalex.org/keywords/free-space","display_name":"Free space","score":0.41212114691734314},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3211420178413391},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31620490550994873},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.169357568025589}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8339072465896606},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7011035084724426},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6480936408042908},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6271931529045105},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6152790784835815},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.603978157043457},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5803025960922241},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.5369060039520264},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41839706897735596},{"id":"https://openalex.org/C2988672794","wikidata":"https://www.wikidata.org/wiki/Q11475","display_name":"Free space","level":2,"score":0.41212114691734314},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3211420178413391},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31620490550994873},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.169357568025589},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364913481250","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913481250","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.800000011920929,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W111413457","https://openalex.org/W129643872","https://openalex.org/W143844323","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1538755060","https://openalex.org/W1581095231","https://openalex.org/W1962169445","https://openalex.org/W1971086298","https://openalex.org/W1973546417","https://openalex.org/W2010757813","https://openalex.org/W2015003349","https://openalex.org/W2021512411","https://openalex.org/W2048223041","https://openalex.org/W2052376754","https://openalex.org/W2072763216","https://openalex.org/W2076202257","https://openalex.org/W2112808334","https://openalex.org/W2114193135","https://openalex.org/W2115257338","https://openalex.org/W2116341587","https://openalex.org/W2125356896","https://openalex.org/W2128990851","https://openalex.org/W2133631661","https://openalex.org/W2133859362","https://openalex.org/W2138419444","https://openalex.org/W2139835588","https://openalex.org/W2141664020","https://openalex.org/W2148970883","https://openalex.org/W2158070864","https://openalex.org/W2162632657","https://openalex.org/W2163913482","https://openalex.org/W2169564405","https://openalex.org/W2171266831","https://openalex.org/W2189063748","https://openalex.org/W2294983528","https://openalex.org/W2397131314","https://openalex.org/W2542762620","https://openalex.org/W2543000889","https://openalex.org/W2545326092","https://openalex.org/W2611243847","https://openalex.org/W4243294870","https://openalex.org/W4299356270"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W1991876829","https://openalex.org/W4389009354","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W4381746183"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,18,49,67,93],"general":[4],"method":[5],"for":[6,12,21],"planning":[7,81],"collision-free":[8,30,55,60],"whole-body":[9,80],"walking":[10,42],"motions":[11],"humanoid":[13,44],"robots.":[14],"First,":[15],"we":[16,38],"present":[17],"randomized":[19],"algorithm":[20,69],"constrained":[22],"motion":[23],"planning,":[24],"that":[25,40],"is":[26],"used":[27],"to":[28,52,66],"generate":[29],"statically":[31,56],"balanced":[32,57,62],"paths":[33,58],"solving":[34],"manipulation":[35],"tasks.":[36],"Then,":[37],"show":[39],"dynamic":[41],"makes":[43],"robots":[45],"small-space":[46],"controllable.":[47],"Such":[48],"property":[50],"allows":[51],"easily":[53],"transform":[54],"into":[59],"dynamically":[61],"trajectories.":[63],"It":[64],"leads":[65],"sound":[68],"which":[70],"has":[71],"been":[72,90],"applied":[73],"and":[74,82,86],"evaluated":[75],"on":[76,92],"several":[77],"problems":[78],"where":[79],"walk":[83],"are":[84],"needed,":[85],"the":[87],"results":[88],"have":[89],"validated":[91],"real":[94],"HRP-2":[95],"robot.":[96]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":10}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
