{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,4]],"date-time":"2025-11-04T10:22:32Z","timestamp":1762251752507},"publisher-location":"Berlin, Heidelberg","reference-count":37,"publisher":"Springer Berlin Heidelberg","isbn-type":[{"type":"print","value":"9783642194566"},{"type":"electronic","value":"9783642194573"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011]]},"DOI":"10.1007\/978-3-642-19457-3_27","type":"book-chapter","created":{"date-parts":[[2011,4,21]],"date-time":"2011-04-21T13:44:27Z","timestamp":1303393467000},"page":"451-468","source":"Crossref","is-referenced-by-count":7,"title":["An Inverse Optimal Control Approach to Human Motion Modeling"],"prefix":"10.1007","author":[{"given":"Katja","family":"Mombaur","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jean-Paul","family":"Laumond","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Anh","family":"Truong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","reference":[{"issue":"2","key":"27_CR1","doi-asserted-by":"publisher","first-page":"49","DOI":"10.1177\/027836498400300205","volume":"3","author":"R.M. Alexander","year":"1984","unstructured":"Alexander, R.M.: The gaits of bipedal and quadrupedal animals. International Journal of Robotics Research\u00a03(2), 49\u201359 (1984)","journal-title":"International Journal of Robotics Research"},{"key":"27_CR2","volume-title":"Optima for Animals","author":"R.M. Alexander","year":"1996","unstructured":"Alexander, R.M.: Optima for Animals. Princeton University Press, Princeton (1996)"},{"doi-asserted-by":"crossref","unstructured":"Arechavaleta, G., Laumond, J.P., Hicheur, H., Berthoz, A.: On the nonholonomic nature of human locomotion. Autonomous Robots\u00a025(1-2) (2008a)","key":"27_CR3","DOI":"10.1007\/s10514-007-9075-2"},{"issue":"1","key":"27_CR4","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1109\/TRO.2008.915449","volume":"24","author":"G. Arechavaleta","year":"2008","unstructured":"Arechavaleta, G., Laumond, J.P., Hicheur, H., Berthoz, A.: An optimality principle governing human walking. IEEE Transactions on Robotics\u00a024(1), 5\u201314 (2008b)","journal-title":"IEEE Transactions on Robotics"},{"issue":"2-3","key":"27_CR5","doi-asserted-by":"publisher","first-page":"145","DOI":"10.1016\/S0921-8890(01)00155-5","volume":"27","author":"A. Billard","year":"2001","unstructured":"Billard, A., Mataric, M.: Learning human arm movements by imitation: Evaluation of a biologically inspired connectionist architecture. Robotics and Autonomous Systems\u00a027(2-3), 145\u2013160 (2001)","journal-title":"Robotics and Autonomous Systems"},{"unstructured":"Bock, H.G.: Randwertproblemmethoden zur Parameteridentifizierung in Systemen nichtlinearer Differentialgleichungen. In: Bonner Mathematische Schriften, vol.\u00a0183, Universit\u00e4t Bonn (1987)","key":"27_CR6"},{"doi-asserted-by":"crossref","unstructured":"Bock, H.G., Plitt, K.J.: A multiple shooting algorithm for direct solution of optimal control problems. In: Proceedings of the 9th IFAC World Congress, Budapest, International Federation of Automatic Control, pp. 242\u2013247 (1984)","key":"27_CR7","DOI":"10.1016\/S1474-6670(17)61205-9"},{"doi-asserted-by":"crossref","unstructured":"Brogan, D., Johnson, N.: Realistic human walking paths. In: Proceedings of International Conference on Computer Animation and Social Agents, New-Brunswick, NJ, USA, pp. 94\u2013101 (2003)","key":"27_CR8","DOI":"10.1109\/CASA.2003.1199309"},{"doi-asserted-by":"crossref","unstructured":"Chestnutt, J., Lau, M., Cheung, G., Kuffner, J., Hodgins, J., Kanade, T.: Footstep planning for the Honda ASIMO humanoid. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, pp. 629\u2013634 (2005)","key":"27_CR9","DOI":"10.1109\/ROBOT.2005.1570188"},{"issue":"2","key":"27_CR10","doi-asserted-by":"publisher","first-page":"182","DOI":"10.1145\/636886.636889","volume":"22","author":"M.G. Choi","year":"2003","unstructured":"Choi, M.G., Lee, J., Shin, S.Y.: Planning biped locomotion using motion capture data and probabilistic roadmaps. ACM Trans. on Graphics\u00a022(2), 182\u2013203 (2003)","journal-title":"ACM Trans. on Graphics"},{"unstructured":"Gutmann, J.S., Fukuchi, M., Fujita, M.: Real-time path planning for humanoid robot navigation. In: Proceedings of the 19th International Joint Conference on Artificial Intelligence (IJCAI), Edinburgh, UK, pp. 1232\u20131237 (2005)","key":"27_CR11"},{"unstructured":"Hatz, K.: Estimating parameters in optimal control problems. Master\u2019s thesis. IWR, Universit\u00e4t Heidelberg (2008)","key":"27_CR12"},{"doi-asserted-by":"crossref","unstructured":"Heuberger, C.: Inverse combinatorial optimization: A survey on problems, methods and results. Journal of Combinatorial Optimization (2004)","key":"27_CR13","DOI":"10.1023\/B:JOCO.0000038914.26975.9b"},{"doi-asserted-by":"crossref","unstructured":"Hicheur, H., Pham, Q.C., Arechavaleta, G., Laumond, J.P., Berthoz, A.: The formation of trajectories during goal-oriented locomotion in humans I: A stereotyped behaviour. European Journal of Neuroscience\u00a027 (2007)","key":"27_CR14","DOI":"10.1111\/j.1460-9568.2007.05836.x"},{"unstructured":"Ikeuchi, K.: Dance and robotics. In: Digital Human Symposium (2009)","key":"27_CR15"},{"doi-asserted-by":"crossref","unstructured":"Kajita, S. et al. : Biped walking pattern generation by using preview control of zero-moment point. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 1620\u20131626 (2003)","key":"27_CR16","DOI":"10.1109\/ROBOT.2003.1241826"},{"issue":"2","key":"27_CR17","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1177\/0278364904041324","volume":"23","author":"F. Kanehiro","year":"2004","unstructured":"Kanehiro, F., Hirukawa, H., Kajita, S.: OpenHRP: Open architecture humanoid robotics platform. Int. J. of Robotics Research\u00a023(2), 155\u2013165 (2004)","journal-title":"Int. J. of Robotics Research"},{"doi-asserted-by":"crossref","unstructured":"Kaneko, K. et al. : The humanoid robot HRP-2. In: Proceedings of IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1083\u20131090 (2004)","key":"27_CR18","DOI":"10.1109\/ROBOT.2004.1307969"},{"key":"27_CR19","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4615-4022-9","volume-title":"Robot Motion Planning","author":"J.C. Latombe","year":"1991","unstructured":"Latombe, J.C.: Robot Motion Planning. Kluwer Academic Publishers, Dordrecht (1991)"},{"key":"27_CR20","series-title":"LNCIS","volume-title":"Robot Motion Planning and Control","year":"1998","unstructured":"Laumond, J.P. (ed.): Robot Motion Planning and Control. LNCIS. Springer, Heidelberg (1998)"},{"unstructured":"Laumond, J.P., Arechavaleta, G., Truong, T.V.A., Hicheur, H., Pham, Q.C., Berthoz, A.: The words of the human locomotion. In: Proceedings of 13th International Symposium on Robotics Research (ISRR 2007), Springer Star Series (2007)","key":"27_CR21"},{"key":"27_CR22","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877","volume-title":"Planning Algorithms","author":"S.M. LaValle","year":"2006","unstructured":"LaValle, S.M.: Planning Algorithms. Cambridge University Press, Cambridge (2006)"},{"key":"27_CR23","doi-asserted-by":"publisher","first-page":"157","DOI":"10.1016\/S0098-1354(02)00158-8","volume":"27","author":"D.B. Leineweber","year":"2003","unstructured":"Leineweber, D.B., Bauer, I., Bock, H.G., Schl\u00f6der, J.P.: a) An efficient multiple shooting based reduced SQP strategy for large-scale dynamic process optimization - part I: theoretical aspects. Comput. Chem. Engng.\u00a027, 157\u2013166 (2003a)","journal-title":"Comput. Chem. Engng."},{"doi-asserted-by":"crossref","unstructured":"Liu, C.K., Hertzmann, A., Popovic, Z.: Learning physics-based motion style with inverse optimization. ACM Transactions on Graphics (SIGGRAPH 2005)\u00a024 (2005)","key":"27_CR24","DOI":"10.1145\/1186822.1073314"},{"key":"27_CR25","doi-asserted-by":"crossref","DOI":"10.1017\/CBO9780511983658","volume-title":"Mathematical Programs with Equilibrium Constraints","author":"Z.Q. Luo","year":"1996","unstructured":"Luo, Z.Q., Pang, J.S., Ralph, D.: Mathematical Programs with Equilibrium Constraints. Cambridge University Press, Cambridge (1996)"},{"doi-asserted-by":"crossref","unstructured":"Mombaur, K.: Using optimization to create self-stable human-like running. Robotica (2008)","key":"27_CR26","DOI":"10.1017\/S0263574708004724"},{"unstructured":"Mombaur, K.: A numerical inverse optimal control method to identify optimality criteria of dynamical systems from measurements (2009) (preparation)","key":"27_CR27"},{"doi-asserted-by":"crossref","unstructured":"Mombaur, K., Laumond, J.P., Yoshida, E.: An optimal control model unifying holonomic and nonholonomic walking. In: Proceedings of IEEE Humanoids, Daejon, Korea (2008)","key":"27_CR28","DOI":"10.1109\/ICHR.2008.4756020"},{"doi-asserted-by":"crossref","unstructured":"Nakazawa, A., Nakaoka, S., Ikeuchi, K., Yokoi, K.: Imitating human dance motions through motion structure analysis. In: Proceedings of IEEE IROS, vol.\u00a03, pp. 2539\u20132544 (2002)","key":"27_CR29","DOI":"10.1109\/IRDS.2002.1041652"},{"key":"27_CR30","doi-asserted-by":"crossref","first-page":"308","DOI":"10.1093\/comjnl\/7.4.308","volume":"7","author":"J.A. Nelder","year":"1965","unstructured":"Nelder, J.A., Mead, R.: A simplex method for function minimization. Computer Journal\u00a07, 308\u2013313 (1965)","journal-title":"Computer Journal"},{"unstructured":"Pettr\u00e9, J., Sim\u00e9on, T., Laumond, J.P.: A 2-stage locomotion planner for digital actors. In: ACM Eurographics Symposium on Computer Animation (2003)","key":"27_CR31"},{"key":"27_CR32","doi-asserted-by":"publisher","first-page":"649","DOI":"10.1093\/imanum\/drm047","volume":"28","author":"M.J.D. Powell","year":"2008","unstructured":"Powell, M.J.D.: Developments of newuoa for unconstrained minimization without derivatives. IMA Journal of Numerical Analysis\u00a028, 649\u2013664 (2008)","journal-title":"IMA Journal of Numerical Analysis"},{"unstructured":"Schultz, G., Mombaur, K.: Modeling and optimal control of human-like running (2008) (submitted)","key":"27_CR33"},{"doi-asserted-by":"crossref","unstructured":"Stasse, O., Davison, A.J., Sellaouti, R., Yokoi, K.: Real-time 3D SLAM for humanoid robot considering pattern generator information. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Bejing, China, pp. 348\u2013355 (2006)","key":"27_CR34","DOI":"10.1109\/IROS.2006.281645"},{"doi-asserted-by":"crossref","unstructured":"Suleiman, W., Yoshida, E., Kanehiro, F., Laumond, J.P., Monin, A.: On human motion imitation by humanoid robot. In: Proceedings of IEEE ICRA (2008)","key":"27_CR35","DOI":"10.1109\/ROBOT.2008.4543619"},{"key":"27_CR36","doi-asserted-by":"publisher","first-page":"350","DOI":"10.1016\/j.jmaa.2004.10.032","volume":"307","author":"J. Ye","year":"2005","unstructured":"Ye, J.: Necessary and sufficient optimality conditions for mathematical programs with equilibrium constraints. Journal of Mathematical Analysis and Applications\u00a0307, 350\u2013369 (2005)","journal-title":"Journal of Mathematical Analysis and Applications"},{"issue":"5","key":"27_CR37","doi-asserted-by":"publisher","first-page":"1186","DOI":"10.1109\/TRO.2008.2002312","volume":"24","author":"E. Yoshida","year":"2008","unstructured":"Yoshida, E., Belousov, I., Esteves, C., Laumond, J.P., Sakaguchi, T., Yokoi, K.: Planning 3-d collision-free dynamic robotic motion through iterative reshaping. IEEE Transactions on Robotics\u00a024(5), 1186\u20131198 (2008)","journal-title":"IEEE Transactions on Robotics"}],"container-title":["Springer Tracts in Advanced Robotics","Robotics Research"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-642-19457-3_27.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,11,24]],"date-time":"2020-11-24T02:47:08Z","timestamp":1606186028000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-642-19457-3_27"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011]]},"ISBN":["9783642194566","9783642194573"],"references-count":37,"URL":"https:\/\/doi.org\/10.1007\/978-3-642-19457-3_27","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"type":"print","value":"1610-7438"},{"type":"electronic","value":"1610-742X"}],"subject":[],"published":{"date-parts":[[2011]]}}}