{"id":"https://openalex.org/W1990318344","doi":"https://doi.org/10.1007/s10846-006-9071-3","title":"Path Planning for a Statically Stable Biped Robot Using PRM and Reinforcement Learning","display_name":"Path Planning for a Statically Stable Biped Robot Using PRM and Reinforcement Learning","publication_year":2006,"publication_date":"2006-10-10","ids":{"openalex":"https://openalex.org/W1990318344","doi":"https://doi.org/10.1007/s10846-006-9071-3","mag":"1990318344"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-006-9071-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-006-9071-3","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and Robotic Systems","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/A5043434546","display_name":"Prasad Kulkarni","orcid":null},"institutions":[{"id":"https://openalex.org/I1301507905","display_name":"Tata Motors (India)","ror":"https://ror.org/00b1tsa05","country_code":"IN","type":"company","lineage":["https://openalex.org/I1301507905","https://openalex.org/I4210086519"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Prasad Kulkarni","raw_affiliation_strings":["Tata Motors Research Division, Tata Motors, Pune, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tata Motors Research Division, Tata Motors, Pune, India","institution_ids":["https://openalex.org/I1301507905"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049989469","display_name":"Dip Goswami","orcid":"https://orcid.org/0000-0002-2268-0014"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Dip Goswami","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 117576, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 117576, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041308578","display_name":"Prithwijit Guha","orcid":"https://orcid.org/0000-0003-2885-0026"},"institutions":[{"id":"https://openalex.org/I94234084","display_name":"Indian Institute of Technology Kanpur","ror":"https://ror.org/05pjsgx75","country_code":"IN","type":"education","lineage":["https://openalex.org/I94234084"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Prithwijit Guha","raw_affiliation_strings":["Department of Electrical Engineering, IIT Kanpur, Kanpur, 208 016, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, IIT Kanpur, Kanpur, 208 016, India","institution_ids":["https://openalex.org/I94234084"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016079038","display_name":"Ashish Dutta","orcid":"https://orcid.org/0000-0002-3635-9731"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]},{"id":"https://openalex.org/I94234084","display_name":"Indian Institute of Technology Kanpur","ror":"https://ror.org/05pjsgx75","country_code":"IN","type":"education","lineage":["https://openalex.org/I94234084"]}],"countries":["IN","JP"],"is_corresponding":true,"raw_author_name":"Ashish Dutta","raw_affiliation_strings":["Department of Mechanical Engineering, IIT Kanpur, Kanpur, 208 016, India","Department of Mechanical Science and Engineering, Nagoya University, Chikusa-Ku, Furo-cho, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, IIT Kanpur, Kanpur, 208 016, India","institution_ids":["https://openalex.org/I94234084"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Nagoya University, Chikusa-Ku, Furo-cho, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5016079038"],"corresponding_institution_ids":["https://openalex.org/I60134161","https://openalex.org/I94234084"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":0.6308,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.68572529,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"47","issue":"3","first_page":"197","last_page":"214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7251321077346802},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7104097604751587},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7016208171844482},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6737067699432373},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6098334789276123},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5793906450271606},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5661630630493164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.565131425857544},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5266247391700745},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.45863497257232666},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.45140963792800903},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3534175455570221},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2966518700122833},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1612166464328766},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.084707111120224},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.061346352100372314},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.0548398494720459}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7251321077346802},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7104097604751587},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7016208171844482},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6737067699432373},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6098334789276123},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5793906450271606},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5661630630493164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.565131425857544},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5266247391700745},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.45863497257232666},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.45140963792800903},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3534175455570221},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2966518700122833},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1612166464328766},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.084707111120224},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.061346352100372314},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0548398494720459},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/s10846-006-9071-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-006-9071-3","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and Robotic Systems","raw_type":"journal-article"},{"id":"pmh:906994","is_oa":false,"landing_page_url":"http://library.tue.nl/csp/dare/LinkToRepository.csp?recordnumber=906994","pdf_url":null,"source":{"id":"https://openalex.org/S4406923046","display_name":"TU/e Research Portal (Eindhoven University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN:0921-0296","raw_type":"Article / Letter to the editor"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.712.7007","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.712.7007","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.es.ele.tue.nl/%7Edgoswami/JRIS.pdf","raw_type":"text"},{"id":"pmh:oai:library.tue.nl:906994","is_oa":false,"landing_page_url":"http://repository.tue.nl/906994","pdf_url":null,"source":{"id":"https://openalex.org/S4406923046","display_name":"TU/e Research Portal (Eindhoven University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN:0921-0296","raw_type":"Article / Letter to the editor"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1551299901","https://openalex.org/W1606590749","https://openalex.org/W1962169445","https://openalex.org/W2002543764","https://openalex.org/W2011890292","https://openalex.org/W2053407718","https://openalex.org/W2073258676","https://openalex.org/W2098508993","https://openalex.org/W2114171536","https://openalex.org/W2120526103","https://openalex.org/W2126357802","https://openalex.org/W2128990851","https://openalex.org/W2132064930","https://openalex.org/W2134741043","https://openalex.org/W2138041005","https://openalex.org/W2532044024","https://openalex.org/W2623660146","https://openalex.org/W3030264759","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094","https://openalex.org/W2050548713"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}