{"id":"https://openalex.org/W3010987573","doi":"https://doi.org/10.1109/humanoids43949.2019.9035072","title":"Bipedal Locomotion Planning for a Humanoid Robot Supported by Arm Contacts Based on Geometrical Feasibility","display_name":"Bipedal Locomotion Planning for a Humanoid Robot Supported by Arm Contacts Based on Geometrical Feasibility","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W3010987573","doi":"https://doi.org/10.1109/humanoids43949.2019.9035072","mag":"3010987573"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids43949.2019.9035072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035072","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":"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/A5046914866","display_name":"Iori Kumagai","orcid":"https://orcid.org/0000-0003-4204-4282"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Iori Kumagai","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Ibaraki, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Ibaraki, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuharu Morisawa","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Ibaraki, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Ibaraki, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021406076","display_name":"Mehdi Benallegue","orcid":"https://orcid.org/0000-0001-7537-9498"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mehdi Benallegue","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Ibaraki, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Ibaraki, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumio Kanehiro","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Ibaraki, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Ibaraki, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5046914866"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":0.4891,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.63377677,"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":"132","last_page":"139"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8859155178070068},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5881553888320923},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.5549441576004028},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5474253296852112},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5023372173309326},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4299841821193695},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4261270761489868},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4227559566497803},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.38082170486450195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3395441770553589},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3201068937778473},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2879490554332733},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.10163179039955139},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09364157915115356}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8859155178070068},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5881553888320923},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.5549441576004028},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5474253296852112},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5023372173309326},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4299841821193695},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4261270761489868},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4227559566497803},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.38082170486450195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3395441770553589},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3201068937778473},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2879490554332733},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.10163179039955139},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09364157915115356}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids43949.2019.9035072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035072","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W276848478","https://openalex.org/W1483753820","https://openalex.org/W1962169445","https://openalex.org/W2006010000","https://openalex.org/W2044627378","https://openalex.org/W2046004653","https://openalex.org/W2095143145","https://openalex.org/W2104906962","https://openalex.org/W2112623616","https://openalex.org/W2130469643","https://openalex.org/W2154847670","https://openalex.org/W2165739402","https://openalex.org/W2275744966","https://openalex.org/W2294983528","https://openalex.org/W2345626358","https://openalex.org/W2415458238","https://openalex.org/W2564178275","https://openalex.org/W2597700484","https://openalex.org/W2789286310","https://openalex.org/W2892340150","https://openalex.org/W2908623834","https://openalex.org/W2913971027","https://openalex.org/W2914921534","https://openalex.org/W6610027523"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2999143598","https://openalex.org/W2593985399"],"abstract_inverted_index":{"In":[0,76],"this":[1],"paper,":[2],"we":[3,54,59,82,110],"propose":[4],"a":[5,12,24,49,61,164,185],"multi-contact":[6,179],"bipedal":[7,50],"locomotion":[8,182],"planning":[9,131,183],"system":[10,153],"for":[11,167,184],"humanoid":[13,186],"robot,":[14],"which":[15,53,96,175],"can":[16],"efficiently":[17],"find":[18,79],"feasible":[19],"arm":[20,43,173],"contacts":[21],"and":[22,70,90,102,120,137,141,159],"generate":[23,145],"quasistatic":[25],"motion":[26,130],"sequence":[27],"supported":[28],"by":[29,64],"them.":[30],"The":[31],"key":[32],"idea":[33],"of":[34,41,181],"our":[35],"method":[36],"is":[37,163],"approximating":[38],"the":[39,67,84,87,93,151,168],"feasibility":[40],"an":[42],"contact":[44,104,113,126,147],"as":[45,99],"its":[46],"sustainability":[47],"during":[48],"walking":[51],"cycle,":[52],"call":[55],"\u201cgeometrical":[56],"feasibility\u201d.":[57],"First,":[58],"plan":[60],"global":[62],"path":[63],"RB-RRT":[65],"with":[66],"reachability":[68,88],"model":[69],"discretize":[71],"it":[72,162],"using":[73],"footstep":[74],"planning.":[75],"order":[77],"to":[78,128,134,144,154,177],"sustainable":[80],"contacts,":[81,174],"compute":[83],"intersections":[85],"between":[86],"volumes":[89],"environments":[91],"along":[92],"planned":[94],"footsteps,":[95],"are":[97],"defined":[98],"contactable":[100,118],"areas,":[101],"define":[103],"candidates":[105],"inside":[106],"these":[107,125],"intersections.":[108],"Then,":[109],"prioritize":[111],"possible":[112],"sets":[114,127],"based":[115],"on":[116],"their":[117,135],"areas":[119],"expected":[121],"supportability.":[122],"We":[123,149],"pass":[124],"whole-body":[129],"process":[132],"according":[133],"priorities,":[136],"evaluate":[138],"static":[139],"equilibrium":[140],"kinematic":[142],"constraints":[143],"quasi-static":[146],"transitions.":[148],"apply":[150],"proposed":[152],"four":[155],"different":[156],"simulation":[157],"experiments,":[158],"conclude":[160],"that":[161],"reasonable":[165],"solution":[166],"difficulty":[169],"in":[170],"predicting":[171],"\u201cfeasible\u201d":[172],"contributes":[176],"improving":[178],"capability":[180],"robot.":[187]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}