{"id":"https://openalex.org/W3047960023","doi":"https://doi.org/10.1080/01691864.2020.1803128","title":"A survey of motion planning techniques for humanoid robots","display_name":"A survey of motion planning techniques for humanoid robots","publication_year":2020,"publication_date":"2020-08-08","ids":{"openalex":"https://openalex.org/W3047960023","doi":"https://doi.org/10.1080/01691864.2020.1803128","mag":"3047960023"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2020.1803128","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1803128","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5010816124","display_name":"Yuichi Tazaki","orcid":"https://orcid.org/0000-0001-5087-6623"},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Y. Tazaki","raw_affiliation_strings":["Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan","institution_ids":["https://openalex.org/I65837984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066818005","display_name":"Masaki Murooka","orcid":"https://orcid.org/0000-0002-1258-0431"},"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":"M. Murooka","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory, IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory, IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5010816124"],"corresponding_institution_ids":["https://openalex.org/I65837984"],"apc_list":null,"apc_paid":null,"fwci":0.5974,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.63411881,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"34","issue":"21-22","first_page":"1370","last_page":"1379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9853000044822693,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9682999849319458,"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":0.8338147401809692},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7136514782905579},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6191540360450745},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5988710522651672},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5836390852928162},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4713912606239319},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.46113336086273193}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8338147401809692},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7136514782905579},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6191540360450745},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5988710522651672},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5836390852928162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4713912606239319},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.46113336086273193}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2020.1803128","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1803128","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1431688706","https://openalex.org/W1502712385","https://openalex.org/W1945123189","https://openalex.org/W1970101292","https://openalex.org/W2015149365","https://openalex.org/W2033480951","https://openalex.org/W2042870409","https://openalex.org/W2046004653","https://openalex.org/W2052980659","https://openalex.org/W2054577881","https://openalex.org/W2056223738","https://openalex.org/W2061983716","https://openalex.org/W2068851522","https://openalex.org/W2074042377","https://openalex.org/W2084959384","https://openalex.org/W2087485438","https://openalex.org/W2095143145","https://openalex.org/W2101340954","https://openalex.org/W2108447956","https://openalex.org/W2108507649","https://openalex.org/W2117542593","https://openalex.org/W2122903487","https://openalex.org/W2123871098","https://openalex.org/W2123894592","https://openalex.org/W2133859362","https://openalex.org/W2142132924","https://openalex.org/W2143729862","https://openalex.org/W2158070864","https://openalex.org/W2295899596","https://openalex.org/W2345626358","https://openalex.org/W2411183766","https://openalex.org/W2415458238","https://openalex.org/W2540579400","https://openalex.org/W2541589810","https://openalex.org/W2545385919","https://openalex.org/W2567729074","https://openalex.org/W2569763019","https://openalex.org/W2578079017","https://openalex.org/W2593388699","https://openalex.org/W2788030459","https://openalex.org/W2789286310","https://openalex.org/W3102212813","https://openalex.org/W4210990956","https://openalex.org/W4230474555","https://openalex.org/W4232371162","https://openalex.org/W4246876444","https://openalex.org/W6663401431"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2543019745","https://openalex.org/W2295425790","https://openalex.org/W1569471492","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W1593091151"],"abstract_inverted_index":{"This":[0],"paper":[1,29],"provides":[2],"a":[3],"brief":[4],"survey":[5],"of":[6,22,25,56,60],"motion":[7,23],"planning":[8,24,38,61,74],"techniques":[9],"for":[10],"humanoid":[11,26],"robots.":[12],"Among":[13],"various":[14],"related":[15],"topics":[16],"that":[17,48],"constitute":[18],"the":[19,65],"broad":[20],"framework":[21],"robots,":[27],"this":[28],"covers":[30],"two":[31,58],"actively":[32],"researched":[33],"topics,":[34],"namely,":[35],"bipedal":[36],"locomotion":[37],"based":[39,78],"on":[40,79],"low":[41],"dimensional":[42],"dynamical":[43],"models":[44],"and":[45,51,68,82,86],"multi-contact":[46],"problems":[47],"involve":[49],"non-coplanar":[50],"non-scheduled":[52],"contact.":[53],"For":[54],"each":[55],"these":[57],"classes":[59],"problems,":[62],"after":[63],"reviewing":[64],"theoretical":[66],"background":[67],"commonly":[69],"used":[70],"problem":[71],"formulation,":[72],"existing":[73],"methods":[75],"are":[76,88],"classified":[77],"their":[80,83],"concepts":[81],"respective":[84],"advantages":[85],"shortcomings":[87],"discussed.":[89]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}