{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T05:33:38Z","timestamp":1784180018382,"version":"3.55.0"},"reference-count":40,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2023,12,21]],"date-time":"2023-12-21T00:00:00Z","timestamp":1703116800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,12,21]],"date-time":"2023-12-21T00:00:00Z","timestamp":1703116800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["1450153"],"award-info":[{"award-number":["1450153"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2024,3]]},"DOI":"10.1007\/s11370-023-00499-x","type":"journal-article","created":{"date-parts":[[2023,12,21]],"date-time":"2023-12-21T12:01:57Z","timestamp":1703160117000},"page":"237-250","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["ART: Avatar Robotics Telepresence\u2014the future of humanoid material handling loco-manipulation"],"prefix":"10.1007","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2934-8209","authenticated-orcid":false,"given":"Jean Chagas","family":"Vaz","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nicolas","family":"Kosanovic","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Paul","family":"Oh","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2023,12,21]]},"reference":[{"key":"499_CR1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.1969.4502596","author":"M Vukobratovic","year":"1969","unstructured":"Vukobratovic M, Davor J (1969) Contribution to the synthesis of biped gait. IEEE Trans Biomed Eng. https:\/\/doi.org\/10.1109\/TBME.1969.4502596","journal-title":"IEEE Trans Biomed Eng"},{"key":"499_CR2","doi-asserted-by":"publisher","DOI":"10.7210\/jrsj.3.325","author":"A Takanishi","year":"1985","unstructured":"Takanishi A, Masami I, Yoshiaki Y, Ichiro K (1985) The realization of dynamic walking by the biped walking robot WL-10 RD. J Robot Soc Jpn. https:\/\/doi.org\/10.7210\/jrsj.3.325","journal-title":"J Robot Soc Jpn"},{"key":"499_CR3","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2012.686345","author":"K Bouyarmane","year":"2012","unstructured":"Bouyarmane K, Abderrahmane K (2012) Humanoid robot locomotion and manipulation step planning. Adv Robot. https:\/\/doi.org\/10.1080\/01691864.2012.686345","journal-title":"Adv Robot"},{"key":"499_CR4","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21571","author":"M Johnson","year":"2015","unstructured":"Johnson M, Shrewsbury B, Bertrand S, Wu T, Duran D, Floyd M, Abeles P, Stephen D, Mertins N, Lesman A, Carff J (2015) Team IHMC\u2019s lessons learned from the DARPA robotics challenge trials. J Field Robot. https:\/\/doi.org\/10.1002\/rob.21571","journal-title":"J Field Robot"},{"key":"499_CR5","doi-asserted-by":"publisher","unstructured":"Kajita S, Kazuo T (1995) Experimental study of biped dynamic walking in the linear inverted pendulum mode. In: IEEE international conference on robotics and automation (ICRA), pp 2885\u20132891. https:\/\/doi.org\/10.1109\/ROBOT.1995.525693","DOI":"10.1109\/ROBOT.1995.525693"},{"key":"499_CR6","doi-asserted-by":"publisher","unstructured":"Spenko M, Buerger S, Iagnemma K (2018) The DARPA robotics challenge finals: humanoid robots to the rescue. Springer, Cham, vol 121. https:\/\/doi.org\/10.1007\/978-3-319-74666-1","DOI":"10.1007\/978-3-319-74666-1"},{"key":"499_CR7","doi-asserted-by":"publisher","unstructured":"Vaz JC, Dave A, Kassai N, Kosanovic N, Oh PY (2022) Immersive auditory-visual real-time avatar system of ANA avatar XPRIZE finalist Avatar-Hubo, In: International conference on advanced robotics and its social impacts (ARSO), pp 1\u20136. https:\/\/doi.org\/10.1109\/ARSO54254.2022.9802964","DOI":"10.1109\/ARSO54254.2022.9802964"},{"key":"499_CR8","doi-asserted-by":"publisher","unstructured":"Vahrenkamp N, Berenson D, Asfour T, Kuffner J, Dillmann R (2009) Humanoid motion planning for dual-arm manipulation and re-grasping tasks, In: IEEE international conference on intelligent robots and systems (IROS), pp 2464\u20132470. https:\/\/doi.org\/10.1109\/IROS.2009.5354625","DOI":"10.1109\/IROS.2009.5354625"},{"key":"499_CR9","doi-asserted-by":"publisher","unstructured":"Zacharias F, Schlette C, Schmidt F, Borst C, Rossmann J, Hirzinger G (2011) Making planned paths look more human-like in humanoid robot manipulation planning, In: IEEE international conference on robotics and automation (ICRA), pp 1192\u20131198. https:\/\/doi.org\/10.1109\/ICRA.2011.5979553","DOI":"10.1109\/ICRA.2011.5979553"},{"key":"499_CR10","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2353017","author":"SY Shin","year":"2014","unstructured":"Shin SY, Kim C (2014) Human-like motion generation and control for humanoid\u2019s dual arm object manipulation. J IEEE Trans Ind Electron. https:\/\/doi.org\/10.1109\/TIE.2014.2353017","journal-title":"J IEEE Trans Ind Electron"},{"key":"499_CR11","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21567","author":"M DeDonato","year":"2015","unstructured":"DeDonato M, Dimitrov V, Du R, Giovacchini R, Knoedler K, Long X, Polido F, Gennert MA, Pad\u0131r T, Feng S, Moriguchi H (2015) Human-in-the-loop control of a humanoid robot for disaster response: a report from the DARPA Robotics Challenge Trials. J Field Robot. https:\/\/doi.org\/10.1002\/rob.21567","journal-title":"J Field Robot"},{"key":"499_CR12","doi-asserted-by":"publisher","unstructured":"Kuindersma S, Deits R, Fallon M, Valenzuela A, Dai H, Permenter F, Koolen T, Marion P, Tedrake R (2016) Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot. Springer Autonomous Robots, pp 429\u2013455. https:\/\/doi.org\/10.1007\/s10514-015-9479-3","DOI":"10.1007\/s10514-015-9479-3"},{"key":"499_CR13","doi-asserted-by":"publisher","unstructured":"Kajita S, Kanehiro F, Kaneko K, Fujiwara K, Harada K, Yokoi K, Hirukawa H (2003) Biped walking pattern generation by using preview control of zero-moment point. In: IEEE international conference on robotics and automation (ICRA), pp 1620\u20131626. https:\/\/doi.org\/10.1109\/ROBOT.2003.1241826","DOI":"10.1109\/ROBOT.2003.1241826"},{"key":"499_CR14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2593483","author":"M Shahbazi","year":"2016","unstructured":"Shahbazi M, Babuska R, Lopes GA (2016) Unified modeling and control of walking and running on the spring-loaded inverted pendulum. J IEEE Trans Robot. https:\/\/doi.org\/10.1109\/TRO.2016.2593483","journal-title":"J IEEE Trans Robot."},{"key":"499_CR15","doi-asserted-by":"publisher","unstructured":"Chen G, Wang J, Wang L (2014) Gait planning and compliance control of a biped robot on stairs with desired ZMP. In: IFAC proceedings, pp 2165\u20132170. https:\/\/doi.org\/10.3182\/20140824-6-ZA-1003.02341","DOI":"10.3182\/20140824-6-ZA-1003.02341"},{"key":"499_CR16","doi-asserted-by":"publisher","DOI":"10.1109\/70976014","author":"JH Park","year":"2001","unstructured":"Park JH (2001) Impedance control for biped robot locomotion. J IEEE Trans Robot Autom. https:\/\/doi.org\/10.1109\/70976014","journal-title":"J IEEE Trans Robot Autom"},{"key":"499_CR17","doi-asserted-by":"publisher","unstructured":"Wieber PB (2006) Trajectory free linear model predictive control for stable walking in the presence of strong perturbations. In: IEEE International conference on robotics and automation (humanoids), pp 137\u2013142. https:\/\/doi.org\/10.1109\/ICHR.2006.321375","DOI":"10.1109\/ICHR.2006.321375"},{"key":"499_CR18","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000058","author":"O Khatib","year":"2004","unstructured":"Khatib O, Sentis L, Park J, Warren J (2004) Whole-body dynamic behavior and control of human-like robots. Int J Humanoid Robot. https:\/\/doi.org\/10.1142\/S0219843604000058","journal-title":"Int J Humanoid Robot"},{"key":"499_CR19","doi-asserted-by":"publisher","unstructured":"Galliker MY, Csomay-Shanklin N, Grandia R, Taylor AJ, Farshidian F, Hutter M, Ames AD (2022) Planar bipedal locomotion with nonlinear model predictive control: online gait generation using whole-body dynamics. In: IEEE international conference on humanoid robots (humanoids), pp 622\u2013629. https:\/\/doi.org\/10.1109\/Humanoids53995.2022.10000132","DOI":"10.1109\/Humanoids53995.2022.10000132"},{"key":"499_CR20","doi-asserted-by":"publisher","unstructured":"Rudin N, Hoeller D, Reist P, Hutter, M (2021) Learning to walk in minutes using massively parallel deep reinforcement learning. In: Conference on robot learning (CoRL). https:\/\/doi.org\/10.48550\/arXiv.2109.11978","DOI":"10.48550\/arXiv.2109.11978"},{"key":"499_CR21","doi-asserted-by":"publisher","unstructured":"Scholz J, Chitta S, Marthi B, Likhachev M (2011) Cart pushing with a mobile manipulation system: Towards navigation with moveable objects. In: IEEE international conference on robotics and automation (ICRA), pp 6115\u20136120. https:\/\/doi.org\/10.1109\/ICRA.2011.5980288","DOI":"10.1109\/ICRA.2011.5980288"},{"key":"499_CR22","doi-asserted-by":"publisher","unstructured":"Takubo T, Inoue K, Sakata K, Mae Y, Arai T (2004) Mobile manipulation of humanoid robots-control method for com position with external force, In: IEEE international conference on intelligent robots and systems (IROS), pp 1180\u20131185. https:\/\/doi.org\/10.1109\/IROS.2004.1389556","DOI":"10.1109\/IROS.2004.1389556"},{"key":"499_CR23","doi-asserted-by":"publisher","unstructured":"Ikeda H, Toyama T, Maki D, Sato K, Nakano E (2021) Cooperative step-climbing strategy using an autonomous wheelchair and a robot, Elsevier robotics and autonomous systems, pp 103670. https:\/\/doi.org\/10.1016\/j.robot.2020.103670","DOI":"10.1016\/j.robot.2020.103670"},{"key":"499_CR24","doi-asserted-by":"publisher","unstructured":"Nozawa S, Kakiuchi Y, Okada K, Inaba M (2012) Controlling the planar motion of a heavy object by pushing with a humanoid robot using dual-arm force control, In: IEEE international conference on robotics and automation (ICRA), pp 1428\u20131435. https:\/\/doi.org\/10.1109\/ICRA.2012.6224884","DOI":"10.1109\/ICRA.2012.6224884"},{"key":"499_CR25","doi-asserted-by":"publisher","unstructured":"Borras J, Asfour T (2015) A whole-body pose taxonomy for locomanipulation tasks. In: IEEE international conference on intelligent robots and systems (IROS), pp 1578\u20131585. https:\/\/doi.org\/10.1109\/IROS.2015.7353578","DOI":"10.1109\/IROS.2015.7353578"},{"key":"499_CR26","doi-asserted-by":"publisher","unstructured":"Kaiser P, Gonzalez-Aguirre D, Schu\u00a8ltje F, Borras J, Vahrenkamp N, Asfour T (2014) Extracting whole-body affordances from multimodal exploration. In: IEEE international conference on robotics and automation (humanoids), pp 1036\u20131043. https:\/\/doi.org\/10.1109\/HUMANOIDS.2014.7041332","DOI":"10.1109\/HUMANOIDS.2014.7041332"},{"key":"499_CR27","doi-asserted-by":"publisher","unstructured":"Dalibard S, Nakhaei A, Lamiraux F, Laumond JP (2010) Manipulation of documented objects by a walking humanoid robot. In: IEEE international conference on robotics and automation (humanoids), pp 518\u2013523. https:\/\/doi.org\/10.1109\/ICHR.2010.5686827","DOI":"10.1109\/ICHR.2010.5686827"},{"key":"499_CR28","doi-asserted-by":"publisher","unstructured":"Farnioli E, Gabiccini M, Bicchi A (2015) Optimal contact force distribution for compliant humanoid robots in whole-body loco-manipulation tasks. In: IEEE international conference on robotics and automation (ICRA), pp 5675\u20135681. https:\/\/doi.org\/10.1109\/ICRA.2015.7139994","DOI":"10.1109\/ICRA.2015.7139994"},{"key":"499_CR29","doi-asserted-by":"publisher","unstructured":"Schiele A, Hirzinger G (2011) A new generation of ergonomic exoskeletons- the high-performance x-arm-2 for space robotics telepresence. In: IEEE international conference on intelligent robots and systems (IROS), pp 2158\u20132165. https:\/\/doi.org\/10.1109\/IROS.2011.6094868","DOI":"10.1109\/IROS.2011.6094868"},{"key":"499_CR30","doi-asserted-by":"publisher","unstructured":"Cardenas IS, Kim JH (2019) Design of a semi-humanoid telepresence robot for plant disaster response and prevention. In: IEEE International conference on intelligent robots and systems (IROS), pp 2748\u20132753. https:\/\/doi.org\/10.1109\/IROS40897.2019.8967859","DOI":"10.1109\/IROS40897.2019.8967859"},{"key":"499_CR31","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0142168","author":"J Zhao","year":"2015","unstructured":"Zhao J, Li W, Li M (2015) Comparative study of SSVEP-and P300-based models for the telepresence control of humanoid robots. J Plos ONE. https:\/\/doi.org\/10.1371\/journal.pone.0142168","journal-title":"J Plos ONE"},{"key":"499_CR32","unstructured":"Michaud F, Boissy P, Labonte D, Corriveau H, Grant A, Lauria M, Cloutier R, Roux MA (2007) Telepresence robot for home care assistance. In: AAAI spring symposium: multidisciplinary collaboration for socially assistive robotics, pp 50\u201355. https:\/\/aaai.org\/Library\/Symposia\/Spring\/2007\/ss07-07-012.php"},{"key":"499_CR33","doi-asserted-by":"publisher","DOI":"10.1007\/s10916-016-0481-x","author":"S Koceski","year":"2016","unstructured":"Koceski S, Koceska N (2016) Evaluation of an assistive telepresence robot for elderly healthcare. J Med Syst. https:\/\/doi.org\/10.1007\/s10916-016-0481-x","journal-title":"J Med Syst"},{"issue":"3","key":"499_CR34","doi-asserted-by":"publisher","first-page":"677","DOI":"10.1080\/0020718508961156","volume":"41","author":"T Katayama","year":"1985","unstructured":"Katayama T, Ohki T, Inoue T, Kato T (1985) Design of an optimal controller for a discrete-time system subject to previewable demand. J Control 41(3):677\u2013699. https:\/\/doi.org\/10.1080\/0020718508961156","journal-title":"J Control"},{"key":"499_CR35","doi-asserted-by":"publisher","unstructured":"Englsberger J, Ott C, Roa MA, Albu-Sch\u00a8affer A, Hirzinger G (2011) Bipedal walking control based on capture point dynamics. In: IEEE international conference on intelligent robots and systems (IROS), pp 4420\u20134427. https:\/\/doi.org\/10.1109\/IROS.2011.6094435","DOI":"10.1109\/IROS.2011.6094435"},{"key":"499_CR36","doi-asserted-by":"publisher","unstructured":"Krause M, Englsberger J, Wieber PB, Ott C (2012) Stabilization of the capture point dynamics for bipedal walking based on model predictive control. In: IFAC proceedings. https:\/\/doi.org\/10.3182\/20120905-3-HR-2030.00165","DOI":"10.3182\/20120905-3-HR-2030.00165"},{"key":"499_CR37","doi-asserted-by":"publisher","DOI":"10.1109\/70.370511","author":"TF Chan","year":"1995","unstructured":"Chan TF, Dubey RV (1995) A weighted least-norm solution based scheme for avoiding joint limits for redundant joint manipulators. J IEEE Trans Robot Autom. https:\/\/doi.org\/10.1109\/70.370511","journal-title":"J IEEE Trans Robot Autom"},{"key":"499_CR38","doi-asserted-by":"publisher","unstructured":"Chen Y, et al. (2022) Enhanced visual feedback with decoupled viewpoint control in immersive humanoid robot teleoperation using SLAM. In: IEEE international conference on humanoid robots (humanoids), pp 306\u2013313. https:\/\/doi.org\/10.1109\/Humanoids53995.2022.9999740","DOI":"10.1109\/Humanoids53995.2022.9999740"},{"key":"499_CR39","doi-asserted-by":"publisher","unstructured":"Gorjup G, Dwivedi A, Elangovan N, Liarokapis M (2019) an intuitive, affordances oriented telemanipulation framework for a dual robot arm hand system: on the execution of bimanual tasks. In: IEEE international conference on intelligent robots and systems (IROS), pp 3611\u20133616. https:\/\/doi.org\/10.1109\/IROS40897.2019.8967782","DOI":"10.1109\/IROS40897.2019.8967782"},{"key":"499_CR40","doi-asserted-by":"publisher","unstructured":"Dave A, Vaz JC, Kim J, Kosanovic N, Kassai N, Oh PY (2022) Avatar-Darwin a social humanoid with telepresence abilities aimed at embodied avatar systems. In: IEEE international conference on humanoid robots (humanoids), pp 47\u201352. https:\/\/doi.org\/10.1109\/Humanoids53995.2022.10000176","DOI":"10.1109\/Humanoids53995.2022.10000176"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-023-00499-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-023-00499-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-023-00499-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,3,27]],"date-time":"2024-03-27T10:16:09Z","timestamp":1711534569000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-023-00499-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12,21]]},"references-count":40,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2024,3]]}},"alternative-id":["499"],"URL":"https:\/\/doi.org\/10.1007\/s11370-023-00499-x","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12,21]]},"assertion":[{"value":"15 February 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 November 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 December 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}