{"id":"https://openalex.org/W2962844430","doi":"https://doi.org/10.1109/humanoids43949.2019.9035046","title":"Footstep Planning for Autonomous Walking Over Rough Terrain","display_name":"Footstep Planning for Autonomous Walking Over Rough Terrain","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2962844430","doi":"https://doi.org/10.1109/humanoids43949.2019.9035046","mag":"2962844430"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids43949.2019.9035046","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035046","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1907.08673","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101810887","display_name":"Robert J. Griffin","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Robert J. Griffin","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL, United States","Florida Institute for Human and Machine Cognition,40 S Alcaniz St, Pensacola,FL,United States,32502"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL, United States","institution_ids":["https://openalex.org/I1335578998"]},{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition,40 S Alcaniz St, Pensacola,FL,United States,32502","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052052337","display_name":"Georg Wiedebach","orcid":"https://orcid.org/0009-0006-1571-0533"},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Georg Wiedebach","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL, United States","Florida Institute for Human and Machine Cognition,40 S Alcaniz St, Pensacola,FL,United States,32502"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL, United States","institution_ids":["https://openalex.org/I1335578998"]},{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition,40 S Alcaniz St, Pensacola,FL,United States,32502","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066095462","display_name":"Stephen McCrory","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen McCrory","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL, United States","Florida Institute for Human and Machine Cognition,40 S Alcaniz St, Pensacola,FL,United States,32502"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL, United States","institution_ids":["https://openalex.org/I1335578998"]},{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition,40 S Alcaniz St, Pensacola,FL,United States,32502","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110745109","display_name":"Sylvain Bertrand","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sylvain Bertrand","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL, United States","Florida Institute for Human and Machine Cognition,40 S Alcaniz St, Pensacola,FL,United States,32502"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL, United States","institution_ids":["https://openalex.org/I1335578998"]},{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition,40 S Alcaniz St, Pensacola,FL,United States,32502","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101658391","display_name":"Inho Lee","orcid":"https://orcid.org/0000-0002-5046-5207"},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Inho Lee","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL, United States","Florida Institute for Human and Machine Cognition,40 S Alcaniz St, Pensacola,FL,United States,32502"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL, United States","institution_ids":["https://openalex.org/I1335578998"]},{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition,40 S Alcaniz St, Pensacola,FL,United States,32502","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102953629","display_name":"Jerry Pratt","orcid":"https://orcid.org/0000-0001-8414-5220"},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jerry Pratt","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL, United States","Florida Institute for Human and Machine Cognition,40 S Alcaniz St, Pensacola,FL,United States,32502"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL, United States","institution_ids":["https://openalex.org/I1335578998"]},{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition,40 S Alcaniz St, Pensacola,FL,United States,32502","institution_ids":["https://openalex.org/I1335578998"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101810887"],"corresponding_institution_ids":["https://openalex.org/I1335578998"],"apc_list":null,"apc_paid":null,"fwci":0.5978,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.65427116,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"9","last_page":"16"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9926999807357788,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9851999878883362,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6850311756134033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6768942475318909},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6530290246009827},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6253141164779663},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6132431030273438},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5611288547515869},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5511457920074463},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5105365514755249},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.45902806520462036},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14735928177833557},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12469890713691711}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6850311756134033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6768942475318909},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6530290246009827},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6253141164779663},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6132431030273438},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5611288547515869},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5511457920074463},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5105365514755249},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.45902806520462036},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14735928177833557},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12469890713691711},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"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":4,"locations":[{"id":"doi:10.1109/humanoids43949.2019.9035046","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035046","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1907.08673","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1907.08673","pdf_url":"https://arxiv.org/pdf/1907.08673","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2962844430","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1907.08673v1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1907.08673","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1907.08673","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1907.08673","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1907.08673","pdf_url":"https://arxiv.org/pdf/1907.08673","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.75}],"awards":[{"id":"https://openalex.org/G4439639956","display_name":null,"funder_award_id":"N00014-19-1-2023","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G6167739183","display_name":"IHMC PROPOSES TO RESEARCH AND DEVELOP CONTROL AND PLANNING ALGORITHMS FOR IMPROVED HUMANOID MOBILITY AND MANIPULATION DURING VARIOUS OPERATIONS FOR THE NASA JSC VALKYRIE HUMANOID ROBOT. WE WILL WORK COOPERATIVELY WITH NASA JSC  AND PROVIDE JSC WITH AN API SO THAT THEY CAN USE OUR ALGORITHMS IN THEIR RESEARCH AND DEVELOPMENT. IHMC HAS A STRONG WORKING RELATIONSHIP WITH JSC. THIS UNSOLICITED PROPOSAL WILL FURTHER OUR COLLABORATION AND LEAD TO THE VALKYRIE HUMANOID ROBOT AND ITS DESCENDANTS BECOMING USEFUL PLATFORMS FOR BOTH RESEARCH AND REAL WORLD APPLICATIONS. WE ARE EXCITED ABOUT THIS PROJECT AND ARE LOOKING FORWARD TO COMMITTING SUBSTANTIAL EFFORT TO THE PROJECT","funder_award_id":"80NSSC18M0071","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320322037","display_name":"Nuclear Safety and Security Commission","ror":"https://ror.org/05qk3ge34"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2962844430.pdf","grobid_xml":"https://content.openalex.org/works/W2962844430.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1030513622","https://openalex.org/W2015149365","https://openalex.org/W2016820997","https://openalex.org/W2036604449","https://openalex.org/W2052011296","https://openalex.org/W2056223738","https://openalex.org/W2084959384","https://openalex.org/W2099893201","https://openalex.org/W2125356896","https://openalex.org/W2127895608","https://openalex.org/W2155289257","https://openalex.org/W2161076907","https://openalex.org/W2163003390","https://openalex.org/W2333533581","https://openalex.org/W2409062585","https://openalex.org/W2415458238","https://openalex.org/W2541589810","https://openalex.org/W2567729074","https://openalex.org/W2570226530","https://openalex.org/W2570611506","https://openalex.org/W2782725118","https://openalex.org/W2788030459","https://openalex.org/W2899192577","https://openalex.org/W6671588046","https://openalex.org/W6678790860","https://openalex.org/W6683620479"],"related_works":["https://openalex.org/W3012062338","https://openalex.org/W2127895608","https://openalex.org/W2158775383","https://openalex.org/W2096127980","https://openalex.org/W2228706490","https://openalex.org/W2545693528","https://openalex.org/W2020246380","https://openalex.org/W2168548781","https://openalex.org/W3150232859","https://openalex.org/W2968701259","https://openalex.org/W2235581865","https://openalex.org/W2149850442","https://openalex.org/W3124211870","https://openalex.org/W2888398732","https://openalex.org/W2101207292","https://openalex.org/W1844824113","https://openalex.org/W2536431081","https://openalex.org/W2283629911","https://openalex.org/W3087974658","https://openalex.org/W2803780405"],"abstract_inverted_index":{"To":[0,69],"increase":[1,70],"the":[2,61,71,82,88,105,109,136],"speed":[3],"of":[4,60,73,84,108,120],"operation":[5],"and":[6,34,122,132,138],"reduce":[7],"operator":[8],"burden,":[9],"humanoid":[10,140],"robots":[11],"must":[12,29],"be":[13,26,30],"able":[14,31],"to":[15,25,32,39,80,98],"function":[16],"autonomously,":[17],"even":[18],"in":[19],"complex,":[20],"cluttered":[21],"environments.":[22],"For":[23],"this":[24,44,115],"possible,":[27],"they":[28],"quickly":[33],"efficiently":[35],"compute":[36],"desired":[37],"footsteps":[38],"reach":[40],"a":[41,48,56,118],"goal.":[42],"In":[43],"work,":[45],"we":[46,76],"present":[47,77],"new":[49],"A":[50],"*":[51],"footstep":[52,64,92,110],"planner":[53,116],"that":[54,102,128],"utilizes":[55],"planar":[57],"region":[58],"representation":[59],"environment":[62],"enable":[63],"planning":[65,89],"over":[66,117],"rough":[67,133],"terrain.":[68],"number":[72],"available":[74],"footholds,":[75],"an":[78],"approach":[79],"allow":[81],"use":[83],"partial":[85,130],"footholds":[86,131],"during":[87],"process.":[90],"The":[91],"plan":[93],"solutions":[94,101],"are":[95],"then":[96,113],"post-processed":[97],"capture":[99],"better":[100],"lie":[103],"between":[104],"lattice":[106],"discretization":[107],"graph.":[111],"We":[112],"demonstrate":[114],"variety":[119],"virtual":[121],"real":[123],"world":[124],"environments,":[125],"including":[126],"some":[127],"require":[129],"terrain":[134],"using":[135],"Atlas":[137],"Valkyrie":[139],"robots.":[141]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
