{"id":"https://openalex.org/W2897460936","doi":"https://doi.org/10.1109/humanoids.2018.8625026","title":"Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments","display_name":"Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2897460936","doi":"https://doi.org/10.1109/humanoids.2018.8625026","mag":"2897460936"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8625026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625026","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":"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/A5087545967","display_name":"Henrique Ferrolho","orcid":"https://orcid.org/0000-0003-4307-0028"},"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":"Henrique Ferrolho","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum), United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum), United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036958906","display_name":"Wolfgang Merkt","orcid":"https://orcid.org/0000-0003-3235-4906"},"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":"Wolfgang Merkt","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum), United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum), United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","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":false,"raw_author_name":"Yiming Yang","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum), United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum), 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":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum), United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum), 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":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum), United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum), United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5087545967"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":0.3269,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.57584963,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"944","last_page":"951"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9833999872207642,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9506999850273132,"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":0.7860721349716187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6405774354934692},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6224140524864197},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6159253716468811},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6129494905471802},{"id":"https://openalex.org/keywords/precomputation","display_name":"Precomputation","score":0.5984164476394653},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.5200204849243164},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5046502351760864},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4968395531177521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4865318834781647},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4733322262763977},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4614075720310211},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.4472820460796356},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4447571635246277},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43024858832359314},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.42912188172340393},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.412313848733902},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38633695244789124},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2758542001247406},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1896514594554901}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7860721349716187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6405774354934692},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6224140524864197},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6159253716468811},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6129494905471802},{"id":"https://openalex.org/C159379195","wikidata":"https://www.wikidata.org/wiki/Q7239568","display_name":"Precomputation","level":3,"score":0.5984164476394653},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.5200204849243164},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5046502351760864},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4968395531177521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4865318834781647},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4733322262763977},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4614075720310211},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.4472820460796356},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4447571635246277},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43024858832359314},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.42912188172340393},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.412313848733902},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38633695244789124},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2758542001247406},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1896514594554901},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2018.8625026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625026","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"},{"id":"pmh:oai:pure.ed.ac.uk:publications/2e9750dc-63f0-43e6-864b-72d1e5454460","is_oa":false,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/2e9750dc-63f0-43e6-864b-72d1e5454460","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":null,"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W86169044","https://openalex.org/W1516488188","https://openalex.org/W1591926975","https://openalex.org/W2015149365","https://openalex.org/W2030929340","https://openalex.org/W2165739402","https://openalex.org/W2165745738","https://openalex.org/W2204100769","https://openalex.org/W2275744966","https://openalex.org/W2283655042","https://openalex.org/W2514828909","https://openalex.org/W2587742116","https://openalex.org/W2735202871","https://openalex.org/W2849931839","https://openalex.org/W2962817082","https://openalex.org/W4246876444","https://openalex.org/W6726908717"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W3127101433","https://openalex.org/W2607470227","https://openalex.org/W2905631446"],"abstract_inverted_index":{"Planning":[0],"balanced":[1],"whole-body":[2,23,93,101,137],"reaching":[3],"configurations":[4,24,102],"is":[5,32,43],"a":[6,146],"fundamental":[7],"problem":[8,36],"in":[9,25,103,114],"humanoid":[10,159,186],"robotics":[11],"on":[12,29,50,72,107,158,182,214],"which":[13],"manipulation":[14],"and":[15,28,47,83,106,132,141,149,211,216,222],"locomotion":[16],"planners":[17],"depend":[18],"on.":[19],"While":[20],"finding":[21,99],"valid":[22],"free":[26],"space":[27],"flat":[30,73],"terrains":[31,74],"relatively":[33],"straightforward,":[34],"the":[35,80,120,143,154,162,166,183,199],"becomes":[37],"extremely":[38],"challenging":[39],"when":[40,48],"obstacle":[41],"avoidance":[42],"taken":[44],"into":[45,129],"account,":[46],"balancing":[49],"more":[51,147],"complex":[52,104],"terrains,":[53],"such":[54],"as":[55],"inclined":[56,195],"supports":[57],"or":[58],"steps.":[59],"Previous":[60],"work":[61],"using":[62],"Paired":[63],"Forward-Inverse":[64],"Dynamic":[65],"Reachability":[66],"Maps":[67],"demonstrated":[68],"fast":[69],"end-pose":[70,94],"planning":[71,95,134],"at":[75],"different":[76],"heights":[77],"by":[78],"decomposing":[79],"kinematic":[81],"structure":[82],"leveraging":[84],"combinatorics.":[85],"In":[86],"this":[87,115],"paper,":[88,163],"we":[89],"present":[90],"an":[91],"efficient":[92],"framework":[96],"capable":[97],"of":[98,122,126,145,191,198],"collision-free":[100],"environments":[105],"sloped":[108],"support":[109,127],"regions.":[110],"The":[111],"main":[112],"contributions":[113],"paper":[116],"are":[117],"twofold:":[118],"(i)":[119],"integration":[121],"contact":[123],"property":[124],"information":[125],"regions":[128],"both":[130,202],"precomputation":[131],"online":[133],"stages,":[135],"including":[136],"static":[138],"equilibrium":[139],"robustness,":[140],"(ii)":[142],"proposal":[144],"informed":[148],"meaningful":[150],"sampling":[151],"strategy":[152],"for":[153],"lower-body.":[155],"We":[156,178],"focus":[157],"robots":[160],"throughout":[161],"but":[164],"all":[165],"principles":[167],"can":[168],"be":[169],"applied":[170],"to":[171,227],"legged":[172],"platforms":[173],"other":[174],"than":[175,208],"bipedal":[176],"robots.":[177],"demonstrate":[179],"our":[180],"method":[181],"NASA":[184],"Valkyrie":[185],"platform":[187],"with":[188],"38":[189],"Degrees":[190],"Freedom":[192],"(DoF)":[193],"over":[194],"supports.":[196],"Analysis":[197],"results":[200],"indicate":[201],"higher":[203],"success":[204],"rates":[205],"-":[206,221],"greater":[207],"95":[209],"%":[210,213],"80":[212],"obstacle-free":[215],"highly":[217],"cluttered":[218],"environments,":[219],"respectively":[220],"shorter":[223],"computation":[224],"times":[225],"compared":[226],"previous":[228],"methods.":[229]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}