{"id":"https://openalex.org/W3020081623","doi":"https://doi.org/10.1108/ir-09-2019-0189","title":"Plane-based stairway mapping for legged robot locomotion","display_name":"Plane-based stairway mapping for legged robot locomotion","publication_year":2020,"publication_date":"2020-04-23","ids":{"openalex":"https://openalex.org/W3020081623","doi":"https://doi.org/10.1108/ir-09-2019-0189","mag":"3020081623"},"language":"en","primary_location":{"id":"doi:10.1108/ir-09-2019-0189","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-09-2019-0189","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: the international journal of robotics research and application","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/A5003950904","display_name":"Seungjun Woo","orcid":null},"institutions":[{"id":"https://openalex.org/I2135383","display_name":"Escuela Superior Politecnica del Litoral","ror":"https://ror.org/04qenc566","country_code":"EC","type":"education","lineage":["https://openalex.org/I2135383"]},{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["EC","KR"],"is_corresponding":false,"raw_author_name":"Seungjun Woo","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Seoul, Republic of Korea and Faculty of Mechanical and Production Sciences Engineering, Escuela Superior Politecnica del Litoral, Guayaquil, Ecuador"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Seoul, Republic of Korea and Faculty of Mechanical and Production Sciences Engineering, Escuela Superior Politecnica del Litoral, Guayaquil, Ecuador","institution_ids":["https://openalex.org/I848706","https://openalex.org/I2135383"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053120188","display_name":"Francisco Yumbla","orcid":"https://orcid.org/0000-0003-4220-010X"},"institutions":[{"id":"https://openalex.org/I2135383","display_name":"Escuela Superior Politecnica del Litoral","ror":"https://ror.org/04qenc566","country_code":"EC","type":"education","lineage":["https://openalex.org/I2135383"]},{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["EC","KR"],"is_corresponding":false,"raw_author_name":"Francisco Yumbla","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Seoul, Republic of Korea and Faculty of Mechanical and Production Sciences Engineering, Escuela Superior Politecnica del Litoral, Guayaquil, Ecuador"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Seoul, Republic of Korea and Faculty of Mechanical and Production Sciences Engineering, Escuela Superior Politecnica del Litoral, Guayaquil, Ecuador","institution_ids":["https://openalex.org/I848706","https://openalex.org/I2135383"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102734018","display_name":"Chan-Yong Park","orcid":"https://orcid.org/0000-0001-5880-9695"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chanyong Park","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011232432","display_name":"Hyouk Ryeol Choi","orcid":"https://orcid.org/0000-0003-2902-7453"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyouk Ryeol Choi","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055372260","display_name":"Hyungpil Moon","orcid":"https://orcid.org/0000-0002-1091-0716"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungpil Moon","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1743,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.45498949,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"47","issue":"4","first_page":"569","last_page":"580"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9965999722480774,"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":0.9965999722480774,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12644","display_name":"Wildlife-Road Interactions and Conservation","score":0.9649999737739563,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.9257601499557495},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6146841049194336},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5846160650253296},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.5230972766876221},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5195998549461365},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44090554118156433},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4296887516975403},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4270317256450653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4119439125061035},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25717276334762573},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0954248309135437}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.9257601499557495},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6146841049194336},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5846160650253296},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.5230972766876221},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5195998549461365},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44090554118156433},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4296887516975403},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4270317256450653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4119439125061035},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25717276334762573},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0954248309135437},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-09-2019-0189","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-09-2019-0189","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: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W964443668","https://openalex.org/W1947421145","https://openalex.org/W2000018820","https://openalex.org/W2004982683","https://openalex.org/W2055279382","https://openalex.org/W2074954154","https://openalex.org/W2117547109","https://openalex.org/W2133844819","https://openalex.org/W2139710904","https://openalex.org/W2218056858","https://openalex.org/W2740188808","https://openalex.org/W2809054577","https://openalex.org/W2906886296","https://openalex.org/W2966280503"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W3107042705","https://openalex.org/W2981196697","https://openalex.org/W3171899115","https://openalex.org/W3126266918","https://openalex.org/W2371953206","https://openalex.org/W2361023359","https://openalex.org/W2349543044","https://openalex.org/W3007915326"],"abstract_inverted_index":{"Purpose":[0],"The":[1,22,58,92,149,161],"purpose":[2],"of":[3,34,41,64,118,129,157,171],"this":[4,26,104,108,175],"study":[5,27],"is":[6],"to":[7,85,114],"propose":[8],"a":[9,18,29,35,38,65,69,122,130,177,187],"novel":[10],"plane-based":[11],"mapping":[12,147,167],"method":[13],"for":[14,31],"legged-robot":[15],"navigation":[16],"in":[17,25,83,103,186],"stairway":[19,36,131,188],"environment.":[20],"Design/methodology/approach":[21],"approach":[23],"implemented":[24],"estimates":[28],"plane":[30,93],"each":[32,119,172],"step":[33],"using":[37,89],"weighted":[39],"average":[40],"sensor":[42,80],"measurements":[43],"and":[44,81,155,168,182],"predictions.":[45],"It":[46],"segments":[47],"planes":[48],"from":[49],"point":[50],"cloud":[51],"data":[52,100,109],"via":[53],"random":[54],"sample":[55],"consensus":[56],"(RANSAC).":[57],"prediction":[59],"uses":[60],"the":[61,71,74,78,99,112,116,127,133,137,153,158],"regular":[62],"structure":[63,101,110],"stairway.":[66],"When":[67],"estimating":[68],"plane,":[70],"algorithm":[72,113,139,163],"considers":[73],"errors":[75],"introduced":[76],"by":[77,88,136,145],"distance":[79],"RANSAC,":[82],"addition":[84],"stairstep":[86,120],"irregularities,":[87],"covariance":[90],"matrices.":[91],"coefficients":[94],"are":[95],"managed":[96],"separately":[97],"with":[98],"suggested":[102],"study.":[105],"In":[106,126],"addition,":[107],"allows":[111],"store":[115],"information":[117],"as":[121],"single":[123],"entity.":[124],"Findings":[125],"case":[128],"environment,":[132],"accuracy":[134,154],"delivered":[135,144],"proposed":[138,162],"was":[140],"higher":[141],"than":[142],"those":[143],"traditional":[146],"methods.":[148],"hardware":[150],"experiment":[151],"verified":[152],"applicability":[156],"algorithm.":[159],"Originality/value":[160],"provides":[164],"accurate":[165],"stairway-environment":[166],"detailed":[169],"specifications":[170],"stairstep.":[173],"Using":[174],"information,":[176],"legged":[178],"robot":[179],"can":[180],"navigate":[181],"plan":[183],"its":[184],"motion":[185],"environment":[189],"more":[190],"efficiently.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}