{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T14:31:52Z","timestamp":1773930712017,"version":"3.50.1"},"reference-count":41,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2016,1,30]],"date-time":"2016-01-30T00:00:00Z","timestamp":1454112000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2016,9]]},"DOI":"10.1007\/s10846-016-0336-1","type":"journal-article","created":{"date-parts":[[2016,1,30]],"date-time":"2016-01-30T01:13:29Z","timestamp":1454116409000},"page":"375-391","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Adaptive Robot Biped Locomotion with Dynamic Motion Primitives and Coupled Phase Oscillators"],"prefix":"10.1007","volume":"83","author":[{"given":"Jos\u00e9","family":"Rosado","sequence":"first","affiliation":[]},{"given":"Filipe","family":"Silva","sequence":"additional","affiliation":[]},{"given":"V\u00edtor","family":"Santos","sequence":"additional","affiliation":[]},{"given":"Ant\u00f3nio","family":"Amaro","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2016,1,30]]},"reference":[{"issue":"5","key":"336_CR1","doi-asserted-by":"crossref","first-page":"469","DOI":"10.1016\/j.robot.2008.10.024","volume":"57","author":"BD Argall","year":"2009","unstructured":"Argall, B.D., Chernova, S., Veloso, M., Browning, B.: A survey of robot learning from demonstration. Rob. Auton. Syst. 57(5), 469\u2013483 (2009)","journal-title":"Rob. Auton. Syst."},{"key":"336_CR2","doi-asserted-by":"crossref","unstructured":"Billard, A., Calinon, S., Dillmann, R., Schaal, S.: Robot programming by demonstration. Handb. Robot., 1371\u20131394 (2008)","DOI":"10.1007\/978-3-540-30301-5_60"},{"key":"336_CR3","doi-asserted-by":"crossref","unstructured":"Kormushev, P., Nenchev, D.N., Calinon, S., Caldwell, D.G.: Upper-body kinesthetic teaching of a free-standing humanoid robot. In: Proceeding - IEEE Int. Conf. Robot. Autom., pp 3970\u20133975 (2011)","DOI":"10.1109\/ICRA.2011.5979537"},{"issue":"3","key":"336_CR4","doi-asserted-by":"crossref","first-page":"330","DOI":"10.1177\/0278364911426178","volume":"31","author":"D Kulic","year":"2012","unstructured":"Kulic, D., Ott, C., Lee, D., Ishikawa, J., Nakamura, Y.: Incremental learning of full body motion primitives and their sequencing through human motion observation. Int. J. Rob. Res. 31(3), 330\u2013345 (2012)","journal-title":"Int. J. Rob. Res."},{"issue":"1\u20132","key":"336_CR5","doi-asserted-by":"crossref","first-page":"207","DOI":"10.1163\/016918609X12586205039883","volume":"24","author":"R Chalodhorn","year":"2010","unstructured":"Chalodhorn, R., Grimes, D.B., Grochow, K., Rao, R.P.N.: Learning to walk by imitation in low-dimensional subspaces. Adv. Robot. 24(1\u20132), 207\u2013232 (2010)","journal-title":"Adv. Robot."},{"key":"336_CR6","doi-asserted-by":"crossref","first-page":"925","DOI":"10.1109\/ICHR.2004.1442695","volume":"2","author":"JNJ Nakanishi","year":"2004","unstructured":"Nakanishi, J.N.J., Morimoto, J.M.J., Endo, G., Cheng, G., Schaal, S., Kawato, M.: A framework for learning biped locomotion with dynamical movement primitives. 4th IEEE\/RAS Int. Conf. Humanoid Robot. 2004 2, 925\u2013940 (2004)","journal-title":"4th IEEE\/RAS Int. Conf. Humanoid Robot. 2004"},{"issue":"13","key":"336_CR7","doi-asserted-by":"crossref","first-page":"1684","DOI":"10.1177\/0278364910364164","volume":"29","author":"D Lee","year":"2010","unstructured":"Lee, D., Ott, C., Nakamura, Y.: Mimetic communication model with compliant physical contact in human\u2013humanoid interaction. Int. J. Rob. Res. 29(13), 1684\u20131704 (2010)","journal-title":"Int. J. Rob. Res."},{"issue":"2","key":"336_CR8","doi-asserted-by":"crossref","first-page":"289","DOI":"10.1142\/S0219843608001431","volume":"5","author":"T Asfour","year":"2008","unstructured":"Asfour, T., Azad, P., Gyarfas, F., Dillmann, R.: Imitation learning of dual-arm manipulation tasks in humanoid robots. Int. J. Humanoid Robot. 5(2), 289\u2013308 (2008)","journal-title":"Int. J. Humanoid Robot."},{"issue":"2","key":"336_CR9","doi-asserted-by":"crossref","first-page":"44","DOI":"10.1109\/MRA.2010.936947","volume":"17","author":"S Calinon","year":"2010","unstructured":"Calinon, S., D\u2019Halluin, F., Sauser, E.L., Caldwell, D.G., Billard, A.G.: Learning and reproduction of gestures by imitation. IEEE Robot. Autom. Mag. 17(2), 44\u201354 (2010)","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"2","key":"336_CR10","doi-asserted-by":"crossref","first-page":"286","DOI":"10.1109\/TSMCB.2006.886952","volume":"37","author":"S Calinon","year":"2007","unstructured":"Calinon, S., Guenter, F., Billard, A.: On Learning, representing, and generalizing a task in a humanoid robot. IEEE Trans. Syst. Man Cybern. Part B 37(2), 286\u2013298 (2007)","journal-title":"IEEE Trans. Syst. Man Cybern. Part B"},{"issue":"1","key":"336_CR11","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1007\/s10514-009-9118-y","volume":"27","author":"A Gams","year":"2009","unstructured":"Gams, A., Ijspeert, A.J., Schaal, S., Lenar\u010di\u010d, J.: On-line learning and modulation of periodic movements with nonlinear dynamical systems. Auton. Robots 27(1), 3\u201323 (2009)","journal-title":"Auton. Robots"},{"issue":"2","key":"336_CR12","doi-asserted-by":"crossref","first-page":"328","DOI":"10.1162\/NECO_a_00393","volume":"25","author":"AJ Ijspeert","year":"2013","unstructured":"Ijspeert, A.J., Nakanishi, J., Hoffmann, H., Pastor, P., Schaal, S.: Dynamical movement primitives: learning attractor models for motor behaviors. Neural Comput. 25(2), 328\u201373 (2013)","journal-title":"Neural Comput."},{"key":"336_CR13","doi-asserted-by":"crossref","unstructured":"Ijspeert, A., Nakanishi, J., Schaal, S.: Movement imitation with nonlinear dynamical systems in humanoid robots. In: International Conference on Robotics and Automation, pp 1398\u20131403 (2002)","DOI":"10.1109\/ROBOT.2002.1014739"},{"issue":"1\u20132","key":"336_CR14","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1007\/s10994-010-5223-6","volume":"84","author":"J Kober","year":"2011","unstructured":"Kober, J., Peters, J.: Policy search for motor primitives in robotics. Mach. Learn. 84(1\u20132), 171\u2013203 (2011)","journal-title":"Mach. Learn."},{"issue":"1","key":"336_CR15","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TBME.1969.4502596","volume":"BME-16","author":"M Vukobratovic","year":"1969","unstructured":"Vukobratovic, M., Juricic, D: Contribution to the synthesis of biped gait. Biomed. Eng. IEEE Trans. BME-16(1), 1\u20136 (1969)","journal-title":"Biomed. Eng. IEEE Trans."},{"key":"336_CR16","doi-asserted-by":"crossref","unstructured":"Sano, A., Furusho, J.: Realization of natural dynamic walking using the angular momentum information. Proceedings., IEEE Int. Conf. Robot. Autom., 1476\u20131481 (1990)","DOI":"10.1109\/ROBOT.1990.126214"},{"key":"336_CR17","doi-asserted-by":"crossref","unstructured":"Stephens, B.: Integral control of humanoid balance. IEEE Int. Conf. Intell. Robot. Syst., 4020\u20134027 (2007)","DOI":"10.1109\/IROS.2007.4399407"},{"issue":"6","key":"336_CR18","doi-asserted-by":"crossref","first-page":"1285","DOI":"10.1109\/TRO.2007.904907","volume":"23","author":"Y Choi","year":"2007","unstructured":"Choi, Y., Kim, D., Oh, Y., You, B. J.: Posture\/walking control for humanoid robot based on kinematic resolution of CoM Jacobian with embedded motion. IEEE Trans. Robot. 23(6), 1285\u20131293 (2007)","journal-title":"IEEE Trans. Robot."},{"issue":"October","key":"336_CR19","first-page":"1644","volume":"2","author":"S Kajita","year":"2003","unstructured":"Kajita, S., Kanehiro, F.: Resolved momentum control: Humanoid motion planning based on the linear and angular momentum. Robot. Syst. 2(October), 1644\u20131650 (2003)","journal-title":"Robot. Syst."},{"key":"336_CR20","unstructured":"Sugihar, T., Hiko Nakamur, Y., Inoue, H., Sugihara, T., Nakamura, Y., Inoue, H., Sugihar, T., Inoue, H., Hiko Nakamur, Y., Inoue, H.: Realtime humanoid motion generat ion through ZMP manipulation based on inverted pendulum control. In: IEEE International Conference on Robotics & Automation, 2002, no. May, pp. 1404\u20131409"},{"issue":"3","key":"336_CR21","doi-asserted-by":"crossref","first-page":"81:1","DOI":"10.1145\/1531326.1531387","volume":"28","author":"U Muico","year":"2009","unstructured":"Muico, U., Lee, Y., Popovi\u0107, J., Popovi\u0107, Z.: Contact-aware nonlinear control of dynamic characters. ACM Trans. Graph. 28(3), 81:1\u201381:9 (2009)","journal-title":"ACM Trans. Graph."},{"issue":"1","key":"336_CR22","doi-asserted-by":"crossref","first-page":"169","DOI":"10.1016\/S0165-0114(02)00236-1","volume":"134","author":"C Zhou","year":"2003","unstructured":"Zhou, C., Meng, Q.: Dynamic balance of a biped robot using fuzzy reinforcement learning agents. Fuzzy Sets Syst. 134(1), 169\u2013187 (2003)","journal-title":"Fuzzy Sets Syst."},{"key":"336_CR23","doi-asserted-by":"crossref","unstructured":"Ibanez, A., Bidaud, P., Padois, V.: Automatic optimal biped walking as a mixed-integer quadratic program. In: Jadran Lenar\u010di\u010d, O.K. (ed.) Advances in Robot Kinematics, pp 505\u2013516. Springer International Publishing (2014)","DOI":"10.1007\/978-3-319-06698-1_52"},{"issue":"5","key":"336_CR24","doi-asserted-by":"crossref","first-page":"977","DOI":"10.1109\/TRO.2005.851381","volume":"21","author":"Q Huang","year":"2005","unstructured":"Huang, Q., Nakamura, Y.: Sensory reflex control for humanoid walking. IEEE Trans. Robot. 21 (5), 977\u2013984 (2005)","journal-title":"IEEE Trans. Robot."},{"issue":"2","key":"336_CR25","doi-asserted-by":"crossref","first-page":"97","DOI":"10.1007\/BF00204048","volume":"73","author":"G Taga","year":"1995","unstructured":"Taga, G.: \u201cA model of the neuro-musculo-skeletal system for human locomotion. I. Emergence of basic gait. Biol. Cybern. 73(2), 97\u2013111 (1995)","journal-title":"Biol. Cybern."},{"issue":"2","key":"336_CR26","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1007\/BF00204049","volume":"73","author":"G Taga","year":"1995","unstructured":"Taga, G.: A model of the neuro-musculo-skeletal system for human locomotion - II. Real-time adaptability under various constraints. Biol. Cybern. 73(2), 113\u2013121 (1995)","journal-title":"Biol. Cybern."},{"issue":"4","key":"336_CR27","doi-asserted-by":"crossref","first-page":"642","DOI":"10.1016\/j.neunet.2008.03.014","volume":"21","author":"AJ Ijspeert","year":"2008","unstructured":"Ijspeert, A.J.: Central pattern generators for locomotion control in animals and robots: a review. Neural Netw. 21(4), 642\u2013653 (2008)","journal-title":"Neural Netw."},{"issue":"12","key":"336_CR28","doi-asserted-by":"crossref","first-page":"1669","DOI":"10.1016\/j.robot.2014.08.010","volume":"62","author":"V Matos","year":"2014","unstructured":"Matos, V., Santos, C.: Towards goal-directed biped locomotion: Combining CPGs and motion primitives. Rob. Auton. Syst. 62(12), 1669\u20131690 (2014)","journal-title":"Rob. Auton. Syst."},{"issue":"2\u20133","key":"336_CR29","doi-asserted-by":"crossref","first-page":"155","DOI":"10.1007\/s10514-011-9235-2","volume":"31","author":"S Degallier","year":"2011","unstructured":"Degallier, S., Righetti, L., Gay, S., Ijspeert, A.: Toward simple control for complex, autonomous robotic applications: Combining discrete and rhythmic motor primitives. Auton. Robots 31(2\u20133), 155\u2013181 (2011)","journal-title":"Auton. Robots"},{"key":"336_CR30","doi-asserted-by":"crossref","unstructured":"Kober, J., Peters, J.: Learning Motor Skills: From Algorithms to Robot Experiments (2013)","DOI":"10.1007\/978-3-319-03194-1"},{"issue":"1","key":"336_CR31","doi-asserted-by":"crossref","first-page":"185","DOI":"10.1109\/TRO.2008.915457","volume":"24","author":"J Morimoto","year":"2008","unstructured":"Morimoto, J., Endo, G., Nakanishi, J., Cheng, G.: A biologically inspired biped locomotion strategy for humanoid robots: modulation of sinusoidal patterns by a coupled oscillator model. IEEE Trans. Robot. 24(1), 185\u2013191 (2008)","journal-title":"IEEE Trans. Robot."},{"key":"336_CR32","doi-asserted-by":"crossref","unstructured":"Pastor, P., Hoffmann, H., Asfour, T., Schaal, S.: Learning and generalization of motor skills by learning from demonstration, IEEE Int. Conf. Robot. Autom. 2009. ICRA \u201909, pp. 763\u2013768 (2009)","DOI":"10.1109\/ROBOT.2009.5152385"},{"issue":"5","key":"336_CR33","doi-asserted-by":"crossref","first-page":"800","DOI":"10.1109\/TRO.2010.2065430","volume":"26","author":"A Ude","year":"2010","unstructured":"Ude, A., Gams, A., Asfour, T., Morimoto, J.: Task-specific generalization of discrete and periodic dynamic movement primitives. IEEE Trans. Robot. 26(5), 800\u2013815 (2010)","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"336_CR34","doi-asserted-by":"crossref","first-page":"304","DOI":"10.1109\/TAMD.2010.2086454","volume":"2","author":"M Hoffmann","year":"2010","unstructured":"Hoffmann, M., Marques, H., Arieta, A., Sumioka, H., Lungarella, M., Pfeifer, R.: Body schema in robotics: a review. IEEE Trans. Auton. Ment. Dev. 2(4), 304\u2013324 (2010)","journal-title":"IEEE Trans. Auton. Ment. Dev."},{"issue":"2","key":"336_CR35","doi-asserted-by":"crossref","first-page":"391","DOI":"10.1109\/TRO.2006.870671","volume":"22","author":"SAS Aoi","year":"2006","unstructured":"Aoi, S.A.S., Tsuchiya, K.: Stability analysis of a simple walking model driven by an oscillator with a phase reset using sensory feedback. IEEE Trans. Robot. 22(2), 391\u2013397 (2006)","journal-title":"IEEE Trans. Robot."},{"key":"336_CR36","doi-asserted-by":"crossref","unstructured":"Righetti, L., Ijspeert, A.J.: Programmable central pattern generators: an application to biped locomotion control. In: Proceeding 2006 IEEE Int. Conf., Robot. Autom. 2006. ICRA 2006. no. May, pp 1585\u20131590 (2006)","DOI":"10.1109\/ROBOT.2006.1641933"},{"key":"336_CR37","doi-asserted-by":"crossref","unstructured":"Righetti, L., Ijspeert, A.J.: Pattern generators with sensory feedback for the control of quadruped locomotion. In: Proceeding - IEEE Int. Conf. Robot. Autom. no. July 2015, pp 819\u2013824 (2008)","DOI":"10.1109\/ROBOT.2008.4543306"},{"issue":"3","key":"336_CR38","doi-asserted-by":"crossref","first-page":"331","DOI":"10.1007\/s10514-009-9172-5","volume":"28","author":"C Maufroy","year":"2010","unstructured":"Maufroy, C., Kimura, H., Takase, K.: Integration of posture and rhythmic motion controls in quadrupedal dynamic walking using phase modulations based on leg loading\/unloading. Auton. Robots 28(3), 331\u2013353 (2010)","journal-title":"Auton. Robots"},{"key":"336_CR39","doi-asserted-by":"crossref","unstructured":"Perry, J.: Gait Analysis: Normal and Pathological Function, vol. 12 (1992)","DOI":"10.1097\/01241398-199211000-00023"},{"issue":"11","key":"336_CR40","doi-asserted-by":"crossref","first-page":"1433","DOI":"10.1016\/S0021-9290(00)00101-9","volume":"33","author":"CE Bauby","year":"2000","unstructured":"Bauby, C.E., Kuo, A.D.: Active control of lateral balance in human walking. J. Biomech. 33(11), 1433\u20131440 (2000)","journal-title":"J. Biomech."},{"key":"336_CR41","doi-asserted-by":"crossref","unstructured":"Rohmer, E., Singh, S.P.N., Freese, M.: V-REP: A versatile and scalable robot simulation framework. IEEE Int. Conf. Intell. Robot. Syst., 1321\u20131326 (2013)","DOI":"10.1109\/IROS.2013.6696520"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0336-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-016-0336-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0336-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0336-1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,4]],"date-time":"2019-09-04T04:16:17Z","timestamp":1567570577000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-016-0336-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,1,30]]},"references-count":41,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2016,9]]}},"alternative-id":["336"],"URL":"https:\/\/doi.org\/10.1007\/s10846-016-0336-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,1,30]]}}}