{"id":"https://openalex.org/W2314157495","doi":"https://doi.org/10.1108/ir-08-2015-0157","title":"Motion planning for humanoid robot dynamically stepping over consecutive large obstacles","display_name":"Motion planning for humanoid robot dynamically stepping over consecutive large obstacles","publication_year":2016,"publication_date":"2016-03-21","ids":{"openalex":"https://openalex.org/W2314157495","doi":"https://doi.org/10.1108/ir-08-2015-0157","mag":"2314157495"},"language":"en","primary_location":{"id":"doi:10.1108/ir-08-2015-0157","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2015-0157","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5041467846","display_name":"Fayong Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fayong Guo","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017597537","display_name":"Tao Mei","orcid":"https://orcid.org/0000-0003-2497-7732"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Mei","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032989636","display_name":"Minzhou Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minzhou Luo","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055397718","display_name":"Marco Ceccarelli","orcid":"https://orcid.org/0000-0001-9388-4391"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Ceccarelli","raw_affiliation_strings":["Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino, Italy","institution_ids":["https://openalex.org/I186995768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100863942","display_name":"Ziyi Zhao","orcid":"https://orcid.org/0009-0003-0090-7569"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210157608","display_name":"Institute of Advanced Manufacturing Technology","ror":"https://ror.org/05egxdg81","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210157608"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyi Zhao","raw_affiliation_strings":["Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I4210157608","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058434154","display_name":"Tao Li","orcid":"https://orcid.org/0000-0001-6173-7987"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210157608","display_name":"Institute of Advanced Manufacturing Technology","ror":"https://ror.org/05egxdg81","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210157608"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Li","raw_affiliation_strings":["Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I4210157608","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100853003","display_name":"Jianghai Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210157608","display_name":"Institute of Advanced Manufacturing Technology","ror":"https://ror.org/05egxdg81","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210157608"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianghai Zhao","raw_affiliation_strings":["Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I4210157608","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5117,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.66478948,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"43","issue":"2","first_page":"204","last_page":"220"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9890000224113464,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8208733797073364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6760697960853577},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6369615197181702},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6225957870483398},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5837904214859009},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5771146416664124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5754736065864563},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5716668963432312},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5490192174911499},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4661615490913391},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44834253191947937},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4284106492996216},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3589448928833008},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2552473843097687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2345009744167328},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13219889998435974},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11898371577262878}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8208733797073364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6760697960853577},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6369615197181702},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6225957870483398},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5837904214859009},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5771146416664124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5754736065864563},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5716668963432312},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5490192174911499},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4661615490913391},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44834253191947937},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4284106492996216},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3589448928833008},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2552473843097687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2345009744167328},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13219889998435974},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11898371577262878},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1108/ir-08-2015-0157","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2015-0157","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"},{"id":"pmh:oai:art.torvergata.it:2108/247443","is_oa":false,"landing_page_url":"http://hdl.handle.net/2108/247443","pdf_url":null,"source":{"id":"https://openalex.org/S4306400993","display_name":"Cineca Institutional Research Information System (Tor Vergata University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I116067653","host_organization_name":"University of Rome Tor Vergata","host_organization_lineage":["https://openalex.org/I116067653"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4399999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W51989288","https://openalex.org/W1547356731","https://openalex.org/W1992258884","https://openalex.org/W2029456407","https://openalex.org/W2074085371","https://openalex.org/W2090915577","https://openalex.org/W2102729053","https://openalex.org/W2103495448","https://openalex.org/W2117962895","https://openalex.org/W2118429328","https://openalex.org/W2120357486","https://openalex.org/W2122378029","https://openalex.org/W2127895608","https://openalex.org/W2130846341","https://openalex.org/W2133808639","https://openalex.org/W2133859362","https://openalex.org/W2135018749","https://openalex.org/W2138136244","https://openalex.org/W2145331404","https://openalex.org/W2158775383","https://openalex.org/W2167080649","https://openalex.org/W2540132834","https://openalex.org/W2540579400","https://openalex.org/W2788213482","https://openalex.org/W6602090626","https://openalex.org/W6681596558"],"related_works":["https://openalex.org/W2160792351","https://openalex.org/W2624230259","https://openalex.org/W2001709466","https://openalex.org/W2543000889","https://openalex.org/W2152512906","https://openalex.org/W2114171536","https://openalex.org/W2545385919","https://openalex.org/W2113187663","https://openalex.org/W2114942020","https://openalex.org/W1962422981","https://openalex.org/W2142908937","https://openalex.org/W2367128178","https://openalex.org/W2098763459","https://openalex.org/W1976952767","https://openalex.org/W2380068487","https://openalex.org/W2274068029","https://openalex.org/W2162470099","https://openalex.org/W2059929527","https://openalex.org/W2166264053","https://openalex.org/W2047513146"],"abstract_inverted_index":{"Purpose":[0],"\u2013":[1,58,94,169],"Humanoid":[2],"robots":[3,28,49],"should":[4],"have":[5],"the":[6,24,48,99,123,126,142,145,149,181,259,265,269,274],"ability":[7],"of":[8,26,236,273],"walking":[9,222],"in":[10,17,165,177,278],"complex":[11],"environment":[12],"and":[13,88,119,140,152,193,248,252,271],"overcoming":[14],"large":[15,54],"obstacles":[16,55,157,213],"rescue":[18],"mission.":[19],"Previous":[20],"research":[21],"mainly":[22],"discusses":[23],"problem":[25,174],"humanoid":[27,261],"stepping":[29,136,158,172,186,190,195,214],"over":[30,52,159,173,187,191,196],"or":[31,36],"on/off":[32],"one":[33],"obstacle":[34],"statically":[35],"dynamically.":[37],"As":[38],"an":[39],"extreme":[40],"case,":[41],"this":[42,166,178,279],"paper":[43,182],"aims":[44],"to":[45,130,267],"demonstrate":[46],"how":[47],"can":[50,107,134],"step":[51],"two":[53,184],"continuously.":[56],"Design/methodology/approach":[57],"The":[59,68,95,170,216],"robot":[60,127,143,262],"model":[61],"uses":[62],"linear":[63],"inverted":[64],"pendulum":[65],"(LIP)":[66],"model.":[67],"motion":[69,91,96,100,146,243],"planning":[70,81,97,160,232],"procedure":[71],"includes":[72],"feasibility":[73,201,217,272],"analysis":[74,202,218],"with":[75,82,98,114,204,224,234,264],"constraints,":[76],"footprints":[77],"planning,":[78],"legs":[79,230],"trajectory":[80,86,147,231,238],"collision-free":[83,115],"constraint,":[84,116],"foot":[85],"adapter":[87],"upper":[89,153,241],"body":[90,154,242],"planning.":[92],"Findings":[93],"constraints":[101],"is":[102,163,175,209,221,244],"a":[103,199,228],"key":[104],"problem,":[105],"which":[106,162],"be":[108],"considered":[109],"as":[110],"global":[111],"optimization":[112],"issue":[113],"kinematic":[117],"limits":[118],"balance":[120],"constraint.":[121],"With":[122],"given":[124],"obstacles,":[125],"first":[128],"needs":[129],"determine":[131],"whether":[132],"it":[133],"achieve":[135],"over,":[137],"if":[138],"feasible,":[139],"then":[141],"gets":[144],"for":[148,211,250],"legs,":[150],"waist":[151],"using":[155,240,258],"consecutive":[156,171,185,212],"algorithm":[161],"presented":[164],"paper.":[167,179,280],"Originality/value":[168],"proposed":[176,210,277],"First,":[180],"defines":[183],"conditions,":[188],"sparse":[189],"(SSO)":[192],"tight":[194],"(TSO).":[197],"Then,":[198],"novel":[200,275],"method":[203,233],"condition":[205],"(SSO/TSO)":[206],"decision":[207],"criterion":[208],"over.":[215],"method\u2019s":[219],"output":[220],"parameters":[223],"obstacles\u2019":[225],"information.":[226],"Furthermore,":[227],"modified":[229],"center":[235],"mass":[237],"compensation":[239],"proposed.":[245],"Finally,":[246],"simulations":[247],"experiments":[249],"SSO":[251],"TSO":[253],"are":[254],"carried":[255],"out":[256],"by":[257],"XT-I":[260],"platform":[263],"aim":[266],"verify":[268],"validity":[270],"methods":[276]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2016-06-24T00:00:00"}
