{"id":"https://openalex.org/W2514828909","doi":"https://doi.org/10.1109/humanoids.2016.7803288","title":"iDRM: Humanoid motion planning with realtime end-pose selection in complex environments","display_name":"iDRM: Humanoid motion planning with realtime end-pose selection in complex environments","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2514828909","doi":"https://doi.org/10.1109/humanoids.2016.7803288","mag":"2514828909"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803288","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":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/59c132cb-0297-4829-b334-a2b72d84b349","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101421479","display_name":"Yiming Yang","orcid":"https://orcid.org/0000-0002-9755-2711"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Yiming Yang","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049922263","display_name":"Vladimir Ivan","orcid":"https://orcid.org/0000-0002-6610-385X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vladimir Ivan","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maurice Fallon","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101421479"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":2.6237,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.894118,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"271","last_page":"278"},"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":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9937999844551086,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.8618611097335815},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8216646909713745},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7934051752090454},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7602609395980835},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5962292551994324},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5664122700691223},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5245782732963562},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5175341963768005},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.47782066464424133},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44521433115005493},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3383917808532715},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1610095202922821}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.8618611097335815},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8216646909713745},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7934051752090454},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7602609395980835},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5962292551994324},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5664122700691223},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5245782732963562},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5175341963768005},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.47782066464424133},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44521433115005493},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3383917808532715},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1610095202922821}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/humanoids.2016.7803288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803288","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"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/59c132cb-0297-4829-b334-a2b72d84b349","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/59c132cb-0297-4829-b334-a2b72d84b349","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Yang, Y, Ivan, V, Li, Z, Fallon, M & Vijayakumar, S 2017, iDRM: Humanoid motion planning with realtime end-pose selection in complex environments. in Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on. Institute of Electrical and Electronics Engineers, pp. 271-278, 2016 IEEE-RAS 16th International Conference on Humanoid Robots, Cancun, Mexico, 15/11/16. https://doi.org/10.1109/HUMANOIDS.2016.7803288","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/59c132cb-0297-4829-b334-a2b72d84b349","is_oa":false,"landing_page_url":"http://ieeexplore.ieee.org/document/7803288/","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/59c132cb-0297-4829-b334-a2b72d84b349","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/59c132cb-0297-4829-b334-a2b72d84b349","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Yang, Y, Ivan, V, Li, Z, Fallon, M & Vijayakumar, S 2017, iDRM: Humanoid motion planning with realtime end-pose selection in complex environments. in Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on. Institute of Electrical and Electronics Engineers, pp. 271-278, 2016 IEEE-RAS 16th International Conference on Humanoid Robots, Cancun, Mexico, 15/11/16. https://doi.org/10.1109/HUMANOIDS.2016.7803288","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6299999952316284,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1591926975","https://openalex.org/W2004139909","https://openalex.org/W2015149365","https://openalex.org/W2022115960","https://openalex.org/W2030929340","https://openalex.org/W2032211017","https://openalex.org/W2045616829","https://openalex.org/W2101033030","https://openalex.org/W2101902009","https://openalex.org/W2103061228","https://openalex.org/W2114942020","https://openalex.org/W2128990851","https://openalex.org/W2133844819","https://openalex.org/W2141664020","https://openalex.org/W2161675447","https://openalex.org/W2211672088","https://openalex.org/W2472568752","https://openalex.org/W2962817082"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2371519816","https://openalex.org/W2067910792","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,14,113,139,142],"novel":[6],"inverse":[7],"Dynamic":[8],"Reachability":[9],"Map":[10],"(iDRM)":[11],"that":[12,101,129],"allows":[13],"floating":[15],"base":[16],"system":[17],"to":[18,91,99],"find":[19],"valid":[20,35,136],"and":[21,26,38,56,69,85],"sufficient":[22],"end-poses":[23,104,137],"in":[24,29,46,63,112,138],"complex":[25,64],"changing":[27],"environments":[28],"real-time.":[30],"End-pose":[31],"planning,":[32],"i.e.":[33],"finding":[34,135],"stance":[36],"locations":[37,68],"collision-free":[39],"reaching":[40,70,116],"configurations,":[41],"is":[42,61,132],"an":[43,87],"essential":[44],"problem":[45],"humanoid":[47,123],"applications,":[48],"such":[49],"as":[50],"providing":[51],"goal":[52],"states":[53],"for":[54],"walking":[55],"motion":[57],"planners.":[58],"However,":[59],"it":[60],"non-trivial":[62],"environments,":[65],"where":[66],"standing":[67],"postures":[71],"are":[72,105],"restricted":[73],"by":[74],"obstacles.":[75],"Our":[76,126],"proposed":[77],"approach,":[78],"iDRM,":[79],"customizes":[80],"the":[81,96,102,119,130],"robot-to-workspace":[82],"occupation":[83],"list":[84],"uses":[86],"online":[88],"update":[89],"algorithm":[90],"enable":[92],"efficient":[93],"reconstruction":[94],"of":[95,115,134,141],"reachability":[97],"map":[98],"guarantee":[100],"selected":[103],"always":[106],"collision-free.":[107],"The":[108],"iDRM":[109],"was":[110],"evaluated":[111],"variety":[114],"tasks":[117],"using":[118],"38":[120],"degree-of-freedom":[121],"(DoF)":[122],"robot":[124],"Valkyrie.":[125],"results":[127],"show":[128],"approach":[131],"capable":[133],"fraction":[140],"second.":[143]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}