{"id":"https://openalex.org/W2571302414","doi":"https://doi.org/10.1109/humanoids.2016.7803264","title":"Integrated affordance detection and humanoid locomotion planning","display_name":"Integrated affordance detection and humanoid locomotion planning","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2571302414","doi":"https://doi.org/10.1109/humanoids.2016.7803264","mag":"2571302414"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-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/A5041991085","display_name":"Will Pryor","orcid":"https://orcid.org/0009-0000-6753-6131"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Will Pryor","raw_affiliation_strings":["Worcester Polytechnic Institute (WPI), Worcester, MA, USA"],"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute (WPI), Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075050774","display_name":"Yu-Chi Lin","orcid":"https://orcid.org/0000-0001-5259-534X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu-Chi Lin","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5041991085"],"corresponding_institution_ids":["https://openalex.org/I107077323"],"apc_list":null,"apc_paid":null,"fwci":4.6381,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.94465837,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"125","last_page":"132"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9980999827384949,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/affordance","display_name":"Affordance","score":0.888130784034729},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.8118637204170227},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7861770391464233},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7003933191299438},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6917003393173218},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6684925556182861},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.6220457553863525},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6188836693763733},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6128261685371399},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5002853870391846},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47005972266197205},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.45142072439193726},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.36358487606048584},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32563239336013794},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3207610845565796},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07401213049888611}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.888130784034729},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8118637204170227},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7861770391464233},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7003933191299438},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6917003393173218},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6684925556182861},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.6220457553863525},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6188836693763733},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6128261685371399},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5002853870391846},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47005972266197205},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.45142072439193726},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.36358487606048584},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32563239336013794},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3207610845565796},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07401213049888611},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2016.7803264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.44999998807907104}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W39150718","https://openalex.org/W46565623","https://openalex.org/W1516488188","https://openalex.org/W1933657216","https://openalex.org/W1972725010","https://openalex.org/W1977771868","https://openalex.org/W1987518424","https://openalex.org/W1995034212","https://openalex.org/W1999889655","https://openalex.org/W2000018820","https://openalex.org/W2067325458","https://openalex.org/W2080236625","https://openalex.org/W2083571425","https://openalex.org/W2085261163","https://openalex.org/W2087775928","https://openalex.org/W2090046561","https://openalex.org/W2108569747","https://openalex.org/W2112825566","https://openalex.org/W2132322793","https://openalex.org/W2137531922","https://openalex.org/W2138403771","https://openalex.org/W2151631165","https://openalex.org/W2152864241","https://openalex.org/W2155217025","https://openalex.org/W2197303805","https://openalex.org/W2750339080","https://openalex.org/W4295846875","https://openalex.org/W4301141993"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2542221445","https://openalex.org/W177694623","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W2079483114"],"abstract_inverted_index":{"A":[0],"humanoid":[1],"robot":[2,45,116],"navigating":[3],"in":[4],"an":[5],"unstructured":[6],"environment":[7,90,129],"requires":[8],"knowledge":[9,23,59],"of":[10,54,60,88,127],"the":[11,20,44,55,61,67,79,89,92,100,104,111,115,128,134,161],"affordances":[12],"which":[13,30,114,130],"allow":[14],"it":[15],"to":[16,46,109,156],"make":[17,47],"contact":[18],"with":[19,76,103,113,140],"environment.":[21],"This":[22],"often":[24],"comes":[25],"from":[26,33],"a":[27,119],"perception":[28,50,80,101],"system,":[29],"processes":[31],"data":[32,146],"3D":[34],"sensors":[35],"such":[36],"as":[37],"LIDAR":[38],"and":[39,142],"extracts":[40],"available":[41],"areas":[42,87,126],"for":[43,136],"contact.":[48],"Because":[49],"systems":[51],"run":[52],"independently":[53],"robot's":[56,62],"planner,":[57,105],"without":[58],"goal,":[63],"they":[64],"must":[65],"process":[66,102],"entire":[68],"visible":[69],"area.":[70],"In":[71],"large":[72],"environments,":[73],"or":[74],"those":[75,125],"complex":[77],"geometry,":[78],"system":[81],"may":[82],"spend":[83],"significant":[84],"time":[85],"processing":[86,124],"that":[91,148],"planner":[93,135],"will":[94],"never":[95],"consider":[96],"visiting.":[97],"By":[98],"integrating":[99],"we":[106],"are":[107,131],"able":[108],"improve":[110],"speed":[112],"can":[117,151],"compute":[118],"motion":[120],"plan":[121],"by":[122,133],"only":[123],"considered":[132],"navigation.":[137],"Two":[138],"experiments":[139],"simulated":[141],"real-world":[143],"point":[144],"cloud":[145],"suggest":[147],"our":[149],"framework":[150],"produce":[152],"comparable":[153],"plans":[154],"up":[155],"seven":[157],"times":[158],"faster":[159],"than":[160],"perceive-then-plan":[162],"approach.":[163]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
