{"id":"https://openalex.org/W2883591223","doi":"https://doi.org/10.1109/humanoids.2018.8625018","title":"Unified Multi-Contact Fall Mitigation Planning for Humanoids via Contact Transition Tree Optimization","display_name":"Unified Multi-Contact Fall Mitigation Planning for Humanoids via Contact Transition Tree Optimization","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2883591223","doi":"https://doi.org/10.1109/humanoids.2018.8625018","mag":"2883591223"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8625018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625018","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100707116","display_name":"Shihao Wang","orcid":"https://orcid.org/0000-0002-8688-1034"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shihao Wang","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027878263","display_name":"Kris Hauser","orcid":"https://orcid.org/0000-0002-5207-1527"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kris Hauser","raw_affiliation_strings":["Departments of Electrical and Computer Engineering and Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departments of Electrical and Computer Engineering and Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170897317"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9980000257492065,"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":0.9890999794006348,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7235739231109619},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6717578768730164},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6108142137527466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5957424640655518},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5626461505889893},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5511103868484497},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4698416590690613},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4209877848625183},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38196268677711487},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33298131823539734},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26624417304992676},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14785942435264587},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13967081904411316}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7235739231109619},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6717578768730164},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6108142137527466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5957424640655518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5626461505889893},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5511103868484497},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4698416590690613},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4209877848625183},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38196268677711487},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33298131823539734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26624417304992676},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14785942435264587},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13967081904411316},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2018.8625018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625018","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W186639547","https://openalex.org/W1972939092","https://openalex.org/W1973165290","https://openalex.org/W1978455214","https://openalex.org/W1994079251","https://openalex.org/W2000553994","https://openalex.org/W2022144657","https://openalex.org/W2025998811","https://openalex.org/W2036188855","https://openalex.org/W2041040097","https://openalex.org/W2079995373","https://openalex.org/W2085746528","https://openalex.org/W2124893853","https://openalex.org/W2137496616","https://openalex.org/W2148939146","https://openalex.org/W2153190828","https://openalex.org/W2153356365","https://openalex.org/W2168158701","https://openalex.org/W2218389626","https://openalex.org/W2221879136","https://openalex.org/W2413365548","https://openalex.org/W2522480999","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W2540665398","https://openalex.org/W2545906379","https://openalex.org/W2565498944","https://openalex.org/W2735356792","https://openalex.org/W2782858773","https://openalex.org/W2783563913","https://openalex.org/W2783859738","https://openalex.org/W2891235614","https://openalex.org/W3045167461","https://openalex.org/W6644863135","https://openalex.org/W6648515476","https://openalex.org/W6688790535","https://openalex.org/W6728995022","https://openalex.org/W6730682860","https://openalex.org/W6780998139"],"related_works":["https://openalex.org/W2026275902","https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2361427670","https://openalex.org/W2139910871"],"abstract_inverted_index":{"This":[0,92],"paper":[1,93],"presents":[2,95],"a":[3,43,84,122],"multi-contact":[4],"approach":[5],"to":[6,40,57,82,101,105],"generalized":[7],"humanoid":[8],"fall":[9],"mitigation":[10],"planning":[11],"that":[12,62,112],"unifies":[13],"inertial":[14],"shaping,":[15],"protective":[16],"stepping,":[17],"and":[18,29,98,130],"hand":[19],"contact":[20,27,44,66],"strategies.":[21],"The":[22],"planner":[23],"optimizes":[24],"both":[25],"the":[26,30,51,64,77,79],"sequence":[28],"robot":[31,59,125],"state":[32],"trajectories.":[33],"A":[34],"high-level":[35],"tree":[36],"search":[37],"is":[38,55],"conducted":[39],"iteratively":[41],"grow":[42],"transition":[45,67],"tree.":[46],"At":[47],"each":[48,74],"edge":[49],"of":[50,76],"tree,":[52,78],"trajectory":[53,107],"optimization":[54],"used":[56],"calculate":[58],"stabilization":[60,119],"trajectories":[61],"produce":[63],"desired":[65],"while":[68],"minimizing":[69],"kinetic":[70,90],"energy.":[71,91],"Also,":[72],"at":[73],"node":[75],"optimizer":[80],"attempts":[81],"find":[83],"self-motion":[85],"(inertial":[86],"shaping":[87],"movement)to":[88],"eliminate":[89],"also":[94],"an":[96],"efficient":[97],"effective":[99],"method":[100],"generate":[102,117],"initial":[103,128],"seeds":[104],"facilitate":[106],"optimization.":[108],"Experiments":[109],"demonstrate":[110],"show":[111],"our":[113],"proposed":[114],"algorithm":[115],"can":[116],"complex":[118],"strategies":[120],"for":[121],"simulated":[123],"planar":[124],"under":[126],"varying":[127],"pushes":[129],"environment":[131],"shapes.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
