{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,4,17]],"date-time":"2025-04-17T14:48:58Z","timestamp":1744901338187},"reference-count":40,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2013,8,11]],"date-time":"2013-08-11T00:00:00Z","timestamp":1376179200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2014,4]]},"DOI":"10.1007\/s10514-013-9357-9","type":"journal-article","created":{"date-parts":[[2013,8,10]],"date-time":"2013-08-10T13:17:33Z","timestamp":1376140653000},"page":"331-347","source":"Crossref","is-referenced-by-count":17,"title":["Walking in the resonance with the COMAN robot with trajectories based on human kinematic motion primitives (kMPs)"],"prefix":"10.1007","volume":"36","author":[{"given":"Federico L.","family":"Moro","sequence":"first","affiliation":[]},{"given":"Nikos G.","family":"Tsagarakis","sequence":"additional","affiliation":[]},{"given":"Darwin G.","family":"Caldwell","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2013,8,11]]},"reference":[{"key":"9357_CR1","first-page":"52","volume-title":"Computation for metaphors, analogy and Agents. Lecture notes in artificial intelligence","author":"R Brooks","year":"1998","unstructured":"Brooks, R., Breazeal, C., Marjanovic, M., Scassellati, B., & Williamson, M. (1998). The cog project: Building a humanoid robot. In C. Nehaniv (Ed.), Computation for metaphors, analogy and Agents. Lecture notes in artificial intelligence (Vol. 1562, pp. 52\u201387). Berlin: Springer."},{"issue":"5712","key":"9357_CR2","doi-asserted-by":"crossref","first-page":"1082","DOI":"10.1126\/science.1107799","volume":"307","author":"S Collins","year":"2005","unstructured":"Collins, S., Ruina, A., Tedrake, R., & Wisse, M. (2005). Efficient bipedal robots based on passive-dynamic walkers. Science, 307(5712), 1082\u20131085.","journal-title":"Science"},{"issue":"3","key":"9357_CR3","doi-asserted-by":"crossref","first-page":"300","DOI":"10.1038\/nn1010","volume":"6","author":"A D\u2019Avella","year":"2003","unstructured":"D\u2019Avella, A., Saltiel, P., & Bizzi, E. (2003). Combinations of muscle synergies in the construction of a natural motor behavior. Nature Neuroscience, 6(3), 300\u2013308.","journal-title":"Nature Neuroscience"},{"key":"9357_CR4","doi-asserted-by":"crossref","unstructured":"Degallier, S., Righetti, L., Natale, L., Nori, F., Metta, G., & Ijspeert, A. (2008). A modular bio-inspired architecture for movement generation for the infant-like robot iCub. In 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 795\u2013800), Scottsdale, AZ, USA.","DOI":"10.1109\/BIOROB.2008.4762847"},{"issue":"4","key":"9357_CR5","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1007\/s00422-010-0403-9","volume":"103","author":"S D\u00e9gallier Rochat","year":"2010","unstructured":"D\u00e9gallier Rochat, S., & Ijspeert, A. (2010). Modeling discrete and rhythmic movements through motor primitives: A review. Biological Cybernetics, 103(4), 319\u2013338.","journal-title":"Biological Cybernetics"},{"issue":"2","key":"9357_CR6","doi-asserted-by":"crossref","first-page":"155","DOI":"10.1007\/s10514-011-9235-2","volume":"31","author":"S D\u00e9gallier Rochat","year":"2011","unstructured":"D\u00e9gallier Rochat, S., Righetti, L., Gay, S., & Ijspeert, A. (2011). Towards simple control for complex, autonomous robotic applications: Combining discrete and rhythmic motor primitives. Autonomous Robots, 31(2), 155\u2013181.","journal-title":"Autonomous Robots"},{"key":"9357_CR7","doi-asserted-by":"crossref","unstructured":"Edsinger-Gonzales, A., & Weber, J. (2004). Domo: A force sensing humanoid robot for manipulation research. In IEEE-RAS International Conference on Humanoid Robots (pp. 1\u201319), Santa Monica, CA, USA.","DOI":"10.1109\/ICHR.2004.1442127"},{"key":"9357_CR8","doi-asserted-by":"crossref","unstructured":"Fujimoto, Y. (2004). Trajectory generation of biped running robot with minimum energy consumption. In IEEE International Conference on Robotics and Automation (pp. 3803\u20133808), Barcelona, Spain.","DOI":"10.1109\/ROBOT.2004.1308861"},{"key":"9357_CR9","doi-asserted-by":"crossref","unstructured":"Grebenstein, M., et al. (2011). The dlr hand arm system. In IEEE International Conference on Robotics and Automation (pp. 3175\u20133182), Shanghai, China.","DOI":"10.1109\/ICRA.2011.5980371"},{"key":"9357_CR10","unstructured":"Hollands, K., Wing, A. M., & Daffertshofer, A. (2007). Principal component analysis of contemporary dance kinematics. In 3rd IEEE EMBSS UK & RI Postgraduate Conference in Biomedical Engineering & Medical Physics (pp. 3989\u20133994). Southampton, UK: University of Southampton."},{"issue":"31","key":"9357_CR11","doi-asserted-by":"crossref","first-page":"7238","DOI":"10.1523\/JNEUROSCI.1327-05.2005","volume":"25","author":"YP Ivanenko","year":"2005","unstructured":"Ivanenko, Y. P., Cappellini, G., Dominici, N., Poppele, R. E., & Lacquaniti, F. (2005). Coordination of locomotion with voluntary movements in humans. The Journal of Neuroscience, 25(31), 7238\u20137253.","journal-title":"The Journal of Neuroscience"},{"issue":"1","key":"9357_CR12","doi-asserted-by":"crossref","first-page":"267","DOI":"10.1113\/jphysiol.2003.057174","volume":"556","author":"YP Ivanenko","year":"2004","unstructured":"Ivanenko, Y. P., Poppele, R. E., & Lacquaniti, F. (2004). Five basic muscle activation patterns account for muscle activity during human locomotion. The Journal of Physiology, 556(1), 267\u2013282.","journal-title":"The Journal of Physiology"},{"key":"9357_CR13","doi-asserted-by":"crossref","unstructured":"Iwata, H., & Sugano, S. (2009). Design of human symbiotic robot twendy-one. In IEEE International Conference on Robotics and Automation (pp. 580\u2013586), Kobe, Japan.","DOI":"10.1109\/ROBOT.2009.5152702"},{"key":"9357_CR14","doi-asserted-by":"crossref","unstructured":"Jafari, A., Tsagarakis, N., & Caldwell, D. G. (2011). Exploiting natural dynamic for energy minimization using an actuator with adjustable stiffness (awas). In IEEE International Conference on Robotics and Automation (pp. 4632\u20134637), Shanghai, China.","DOI":"10.1109\/ICRA.2011.5979979"},{"issue":"1","key":"9357_CR15","doi-asserted-by":"crossref","first-page":"71","DOI":"10.1023\/A:1013210909840","volume":"12","author":"S Kagami","year":"2002","unstructured":"Kagami, S., Kitagawa, T., Nishiwaki, K., Sugihara, T., Inaba, M., & Inoue, H. (2002). A fast dynamically equilibrated walking trajectory generation method of humanoid robot. Autonomous Robots, 12(1), 71\u201382.","journal-title":"Autonomous Robots"},{"key":"9357_CR16","doi-asserted-by":"crossref","unstructured":"Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., et al. (2003). Biped walking pattern generation by using preview control of zero-moment point. In IEEE International Conference on Robotics and Automation (pp. 1620\u20131626), Taipei, Taiwan.","DOI":"10.1109\/ROBOT.2003.1241826"},{"key":"9357_CR17","doi-asserted-by":"crossref","unstructured":"Kaynov, D., Soueres, P., Pierro, P., & Balaguer, C. (2009). A practical decoupled stabilizer for joint-position controlled humanoid robots. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (pp. 3392\u20133397), St. Louis, MO, USA.","DOI":"10.1109\/IROS.2009.5354431"},{"key":"9357_CR18","doi-asserted-by":"crossref","unstructured":"Kormushev, P., Ugurlu, B., Calinon, S., Tsagarakis, N. G., & Caldwell, D. G. (2011). Bipedal walking energy minimization by reinforcement learning with evolving policy parameterization. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (pp. 318\u2013324), San Francisco, CA, USA.","DOI":"10.1109\/IROS.2011.6094427"},{"key":"9357_CR19","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1115\/1.1427703","volume":"124","author":"AD Kuo","year":"2002","unstructured":"Kuo, A. D. (2002). Energetics of actively powered locomotion using the simplest walking model. Journal of Biomechanical Engineering, 124, 113\u2013120.","journal-title":"Journal of Biomechanical Engineering"},{"key":"9357_CR20","doi-asserted-by":"crossref","unstructured":"Kurazame, R., Tanaka, S., Yamashita, M., Hasegawa, T., & Yoneda, K. (2005). Straight legged walking of a biped robot. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (pp. 337\u2013343), Edmonton, Canada","DOI":"10.1109\/IROS.2005.1545447"},{"issue":"06","key":"9357_CR21","doi-asserted-by":"crossref","first-page":"651","DOI":"10.1017\/S0263574700002708","volume":"18","author":"K Mitobe","year":"2000","unstructured":"Mitobe, K., Capi, G., & Nasu, Y. (2000). Control of walking robots based on manipulation of the zero moment point. Robotica, 18(06), 651\u2013657.","journal-title":"Robotica"},{"key":"9357_CR22","doi-asserted-by":"crossref","unstructured":"Morisawa, M., Harada, K., Kajita, S., Nakaoka, S., Fujiwara, K., Kanehiro, F., et al. (2007). Experimentation of humanoid walking allowing immediate modification of foot place based on analytical solution. In IEEE International Conference on Robotics and Automation (pp. 3989\u20133994), Rome, Italy.","DOI":"10.1109\/ROBOT.2007.364091"},{"key":"9357_CR23","doi-asserted-by":"crossref","unstructured":"Moro, F., Gini, G., Zefran, M., & Rodic, A. (2010). Simulation for the optimal design of a biped robot: Analysis of energy consumption. In International Conference on Simulation, Modeling, and Programming for Autonomous Robots, Darmstadt, Germany.","DOI":"10.1007\/978-3-642-17319-6_41"},{"key":"9357_CR24","doi-asserted-by":"crossref","first-page":"309","DOI":"10.1007\/s00422-013-0551-9","volume":"107","author":"FL Moro","year":"2013","unstructured":"Moro, F. L., Spr\u00f6witz, A., Tuleu, A., Vespignani, M., Tsagarakis, N. G., Ijspeert, A. J., et al. (2013). Horse-like walking, trotting and galloping derived from kinematic motion primitives (kmps) and their application to walk\/trot transitions in a compliant quadruped robot. Biological Cybernetics, 107, 309\u2013320.","journal-title":"Biological Cybernetics"},{"key":"9357_CR25","doi-asserted-by":"crossref","unstructured":"Moro, F. L., Tsagarakis, N. G., & Caldwell, D. G. (2011). A human-like walking for the compliant humanoid coman based on com trajectory reconstruction from kinematic motion primitives. In IEEE-RAS International Conference on Humanoid Robots (pp. 364\u2013370), Bled, Slovenia.","DOI":"10.1109\/Humanoids.2011.6100862"},{"key":"9357_CR26","doi-asserted-by":"crossref","unstructured":"Moro, F. L., Tsagarakis, N. G., & Caldwell, D. G. (2012a). Efficient human-like walking for the compliant humanoid coman based on kinematic motion primitives (kmps). In IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA.","DOI":"10.1109\/ICRA.2012.6224847"},{"key":"9357_CR27","unstructured":"Moro, F. L., Tsagarakis, N. G., & Caldwell, D. G. (2012b). The kinematic motion primitives (kmps) of periodic motions, discrete motions, and motions that are a combination of discrete and periodic movements. In Cognitive Neuroscience Robotics (CNR) Workshop at the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal."},{"issue":"10","key":"9357_CR28","first-page":"1","volume":"6","author":"FL Moro","year":"2012","unstructured":"Moro, F. L., Tsagarakis, N. G., & Caldwell, D. G. (2012c). On the kinematic motion primitives (kmps)\u2014Theory and application. Frontiers in Neurorobotics, 6(10), 1\u201318.","journal-title":"Frontiers in Neurorobotics"},{"key":"9357_CR29","doi-asserted-by":"crossref","unstructured":"Nagasaka, K., Kuroki, Y., Suzuki, S., Itoh, Y., & Yamaguchi, J. (2004). Integrated motion control for walking, jumping and running on a small bipedal entertainment robot. In IEEE International Conference on Robotics and Automation (pp. 3189\u20133194), Barcelona, Spain.","DOI":"10.1109\/ROBOT.2004.1308745"},{"key":"9357_CR30","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1109\/THFE.1966.232329","volume":"2","author":"T Sheridan","year":"1966","unstructured":"Sheridan, T. (1966). Three models of preview control. IEEE Transactions on Human Factors in Electronics, 2, 91\u2013102.","journal-title":"IEEE Transactions on Human Factors in Electronics"},{"key":"9357_CR31","doi-asserted-by":"crossref","unstructured":"Silva, F. M., & Machado, J. A. T. (1999). Energy analysis during biped walking. In IEEE International Conference on Robotics and Automation (pp. 59\u201364), Detroit, MI, USA.","DOI":"10.1109\/ROBOT.1999.769931"},{"key":"9357_CR32","doi-asserted-by":"crossref","unstructured":"Sugihara, T. (2009). Standing stabilizability and stepping maneuver in planar bipedalism based on the best com-zmp regulator. In IEEE International Conference on Robotics and Automation (pp. 1966\u20131971), Kobe, Japan.","DOI":"10.1109\/ROBOT.2009.5152284"},{"key":"9357_CR33","doi-asserted-by":"crossref","unstructured":"Torres-Jara, E. (2005). Obrero: A platform for sensitive manipulation. In IEEE-RAS International Conference on Humanoid Robots (pp. 327\u2013332), Tsukuba, Japan.","DOI":"10.1109\/ICHR.2005.1573588"},{"key":"9357_CR34","doi-asserted-by":"crossref","unstructured":"Tsagarakis, N. G., Becchi, F., Singlair, M., Metta, G., Caldwell, D. G., & Sandini, G. (2007a). Lower body realization of the baby humanoid \u2019icub\u2019. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (pp. 3616\u20133622), San Diego, CA, USA.","DOI":"10.1109\/IROS.2007.4399096"},{"key":"9357_CR35","doi-asserted-by":"crossref","unstructured":"Tsagarakis, N. G., Laffranchi, M., Vanderborght, B., & Caldwell, D. G. (2009). A compact soft actuator unit for small scale human friendly robots. In IEEE International Conference on Robotics and Automation (pp. 4356\u20134362), Kobe, Japan.","DOI":"10.1109\/ROBOT.2009.5152496"},{"key":"9357_CR36","doi-asserted-by":"crossref","unstructured":"Tsagarakis, N. G., Li, Z., Saglia, J. A., & Caldwell, D. G. (2011). The design of the lower body of the compliant humanoid robot ccub. In IEEE International Conference on Robotics and Automation (pp. 2035\u20132040), Shanghai, China.","DOI":"10.1109\/ICRA.2011.5980130"},{"issue":"10","key":"9357_CR37","doi-asserted-by":"crossref","first-page":"1151","DOI":"10.1163\/156855307781389419","volume":"21","author":"NG Tsagarakis","year":"2007","unstructured":"Tsagarakis, N. G., Metta, G., Sandini, G., Vernon, D., Beira, R., Becchi, F., et al. (2007b). icub: The design and realization of an open humanoid platform for cognitive and neuroscience research. Advanced Robotics, 21(10), 1151\u20131175.","journal-title":"Advanced Robotics"},{"key":"9357_CR38","unstructured":"Ugurlu, B., Saglia, J. A., Tsagarakis, N. G., & Caldwell, Darwin G. (2012). Hopping at the resonance frequency: A trajectory generation technique for bipedal robots with elastic joints. In: IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA."},{"key":"9357_CR39","doi-asserted-by":"crossref","unstructured":"Vanderborght, B., Verrelst, B., Van Ham, R., Van Damme, M., Lefeber, D., Duran, B. M. Y., et al. (2006). Exploiting natural dynamics to reduce energy consumption by controlling the compliance of soft actuators. International Journal of Robotics Research, 25(4), 343\u2013358.","DOI":"10.1177\/0278364906064566"},{"key":"9357_CR40","doi-asserted-by":"crossref","unstructured":"Yamasaki, F., Hosoda, K., & Asada, M. (2002). An energy consumption based control for humanoid walking. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (pp. 2473\u20132477), Lausanne, Switzerland.","DOI":"10.1109\/IRDS.2002.1041640"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-013-9357-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-013-9357-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-013-9357-9","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,7,20]],"date-time":"2019-07-20T20:07:34Z","timestamp":1563653254000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-013-9357-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,8,11]]},"references-count":40,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2014,4]]}},"alternative-id":["9357"],"URL":"https:\/\/doi.org\/10.1007\/s10514-013-9357-9","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,8,11]]}}}