{"id":"https://openalex.org/W4415693146","doi":"https://doi.org/10.1007/s10846-025-02327-z","title":"Enhancing Humanoid Robot Stability on Uneven Terrain with Online Foothold Planning Based on Ground Scanning","display_name":"Enhancing Humanoid Robot Stability on Uneven Terrain with Online Foothold Planning Based on Ground Scanning","publication_year":2025,"publication_date":"2025-10-30","ids":{"openalex":"https://openalex.org/W4415693146","doi":"https://doi.org/10.1007/s10846-025-02327-z"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-025-02327-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02327-z","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1007/s10846-025-02327-z","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025394317","display_name":"Irene Frizza","orcid":"https://orcid.org/0000-0001-5272-1051"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["FR","JP"],"is_corresponding":true,"raw_author_name":"Irene Frizza","raw_affiliation_strings":["LIRMM, Universit\u00e9 de Montpellier, CNRS, Montpellier, France","National Institute of Advanced Industrial Science and Technology (AIST) - CNRS JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"LIRMM, Universit\u00e9 de Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST) - CNRS JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064981052","display_name":"Hiroshi Kaminaga","orcid":"https://orcid.org/0000-0002-8288-7973"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Kaminaga","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST) - CNRS JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST) - CNRS JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039123647","display_name":"Rafael Cisneros","orcid":"https://orcid.org/0000-0002-0850-070X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rafael Cisneros-Lim\u00f3n","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST) - CNRS JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST) - CNRS JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Fraisse","raw_affiliation_strings":["LIRMM, Universit\u00e9 de Montpellier, CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM, Universit\u00e9 de Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076587308","display_name":"Gentiane Venture","orcid":"https://orcid.org/0000-0001-7767-4765"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gentiane Venture","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST) - CNRS JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan","The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST) - CNRS JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5025394317"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I73613424"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32724606,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"111","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9656999707221985,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9656999707221985,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.01360000018030405,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.0027000000700354576,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7734000086784363},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7721999883651733},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6391000151634216},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5446000099182129},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5281999707221985},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5250999927520752},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5199000239372253}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7734000086784363},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7721999883651733},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6391000151634216},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6243000030517578},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5446000099182129},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5357999801635742},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5281999707221985},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5250999927520752},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5199000239372253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.512499988079071},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4205999970436096},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3930000066757202},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3659000098705292},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.3441999852657318},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.33000001311302185},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.329800009727478},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2851000130176544},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.28299999237060547},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.28049999475479126},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2522999942302704}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-025-02327-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02327-z","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-05507003v1","is_oa":false,"landing_page_url":"https://hal.science/hal-05507003","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","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":"Journal of Intelligent and Robotic Systems, 2025, 111 (4), pp.123. ⟨10.1007/s10846-025-02327-z⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"doi:10.1007/s10846-025-02327-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02327-z","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1972588742","https://openalex.org/W2048903599","https://openalex.org/W2089476757","https://openalex.org/W2100615611","https://openalex.org/W2123894592","https://openalex.org/W2131833652","https://openalex.org/W2142992961","https://openalex.org/W2159593326","https://openalex.org/W2164167893","https://openalex.org/W2181356910","https://openalex.org/W2204100769","https://openalex.org/W2567810712","https://openalex.org/W2568550321","https://openalex.org/W2967793392","https://openalex.org/W3010682736","https://openalex.org/W3037562402","https://openalex.org/W3094888885","https://openalex.org/W3213426571","https://openalex.org/W4296162931","https://openalex.org/W4313563148","https://openalex.org/W4391309699","https://openalex.org/W4404953431"],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"an":[3],"algorithm":[4,92],"for":[5],"online":[6],"estimation":[7,69],"of":[8,96],"foot":[9],"position":[10],"and":[11,25,39,71,77,85,106],"orientation":[12,40],"based":[13],"on":[14,45,78],"the":[15,36,65,91,94],"ground":[16,103],"profile,":[17],"designed":[18],"to":[19,34,60],"improve":[20],"humanoid":[21,81],"stability":[22],"during":[23],"locomotion":[24,113],"stationary":[26],"poses.":[27],"The":[28],"method":[29],"leverages":[30],"foot-mounted":[31],"terrain":[32,68],"sensing":[33],"determine":[35],"optimal":[37],"foothold":[38],"that":[41,57,90],"maximize":[42],"contact":[43],"surface":[44],"uneven":[46],"terrain.":[47],"To":[48],"address":[49],"hardware":[50],"limitations,":[51],"we":[52],"also":[53],"integrate":[54],"compliant":[55,86],"feet":[56],"enhance":[58],"adaptability":[59],"rough":[61],"ground.":[62],"We":[63],"evaluated":[64],"approach":[66],"through":[67],"tests":[70],"walking":[72],"experiments":[73],"in":[74],"both":[75],"simulation":[76],"a":[79],"real":[80],"robot":[82],"with":[83],"flat":[84],"feet.":[87],"Results":[88],"show":[89],"increases":[93],"number":[95],"successful":[97],"steps,":[98],"improves":[99],"stability,":[100],"reduces":[101],"peak":[102],"reaction":[104],"forces,":[105],"lowers":[107],"ankle":[108],"angle":[109],"variations,":[110],"by":[111],"enhancing":[112],"safety.":[114]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-30T00:00:00"}