{"id":"https://openalex.org/W4404953419","doi":"https://doi.org/10.1109/humanoids58906.2024.10769791","title":"Guiding Collision-Free Humanoid Multi-Contact Locomotion using Convex Kinematic Relaxations and Dynamic Optimization","display_name":"Guiding Collision-Free Humanoid Multi-Contact Locomotion using Convex Kinematic Relaxations and Dynamic Optimization","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4404953419","doi":"https://doi.org/10.1109/humanoids58906.2024.10769791"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids58906.2024.10769791","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769791","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd 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/A5100711263","display_name":"Carlos Gonz\u00e1lez","orcid":"https://orcid.org/0000-0002-6709-4369"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlos Gonzalez","raw_affiliation_strings":["University of Texas at Austin,Department of Aerospace Engineering and Engineering Mechanics,TX,USA,78712"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Department of Aerospace Engineering and Engineering Mechanics,TX,USA,78712","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["University of Texas at Austin,Department of Aerospace Engineering and Engineering Mechanics,TX,USA,78712"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Department of Aerospace Engineering and Engineering Mechanics,TX,USA,78712","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"592","last_page":"599"},"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":0.9908999800682068,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9696000218391418,"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":0.8002463579177856},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7305974364280701},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7277132272720337},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.707592785358429},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5825670957565308},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5363268852233887},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5273961424827576},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4471818506717682},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4354560375213623},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4312206506729126},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4116193652153015},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37756532430648804},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17672225832939148}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8002463579177856},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7305974364280701},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7277132272720337},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.707592785358429},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5825670957565308},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5363268852233887},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5273961424827576},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4471818506717682},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4354560375213623},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4312206506729126},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4116193652153015},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37756532430648804},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17672225832939148},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids58906.2024.10769791","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769791","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1030513622","https://openalex.org/W1853143499","https://openalex.org/W2049410986","https://openalex.org/W2061983716","https://openalex.org/W2345626358","https://openalex.org/W2763052367","https://openalex.org/W2767178383","https://openalex.org/W2788030459","https://openalex.org/W2899953468","https://openalex.org/W2914921534","https://openalex.org/W3006033022","https://openalex.org/W3010987573","https://openalex.org/W3081791272","https://openalex.org/W3123076862","https://openalex.org/W3190941931","https://openalex.org/W4292825907","https://openalex.org/W4313181105","https://openalex.org/W4376109419","https://openalex.org/W4385858056","https://openalex.org/W4386075853","https://openalex.org/W4386156806","https://openalex.org/W4387682164","https://openalex.org/W4388692454","https://openalex.org/W4390481268","https://openalex.org/W4390481292","https://openalex.org/W4394994326","https://openalex.org/W4397555767","https://openalex.org/W4401041664","https://openalex.org/W4401414183","https://openalex.org/W4402354156","https://openalex.org/W6869014910"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2374043190","https://openalex.org/W2363298784","https://openalex.org/W2367402697"],"abstract_inverted_index":{"Humanoid":[0],"robots":[1,125],"rely":[2,38],"on":[3,39],"multi-contact":[4,24,73,96,151],"planners":[5,32],"to":[6,91,94],"navigate":[7],"a":[8,27,71,85,107,127,145],"diverse":[9],"set":[10],"of":[11,55,149],"environments,":[12],"including":[13,153],"those":[14],"that":[15,67,75],"are":[16],"unstructured":[17],"and":[18,63],"highly":[19],"constrained.":[20],"To":[21,66],"synthesize":[22],"stable":[23,35],"plans":[25,143],"within":[26,144],"reasonable":[28],"time":[29],"frame,":[30],"most":[31],"assume":[33],"statically":[34],"motions":[36],"or":[37,58],"reduced":[40],"order":[41],"models.":[42],"However,":[43],"these":[44],"approaches":[45],"can":[46,140],"also":[47],"render":[48],"the":[49,53,113],"problem":[50],"infeasible":[51],"in":[52,79,106,136,156],"presence":[54],"large":[56],"obstacles":[57],"when":[59],"operating":[60],"near":[61],"kinematic":[62],"dynamic":[64,108,154],"limits.":[65],"end,":[68],"we":[69],"propose":[70],"new":[72],"framework":[74,135],"leverages":[76],"recent":[77],"advancements":[78],"relaxing":[80],"collision-free":[81],"path":[82],"planning":[83],"into":[84],"convex":[86],"optimization":[87],"problem,":[88],"extending":[89],"it":[90],"be":[92],"applicable":[93],"humanoid":[95,124],"navigation.":[97],"Our":[98,138],"approach":[99,120,139],"generates":[100],"near-feasible":[101],"trajectories":[102],"used":[103],"as":[104],"guides":[105],"trajectory":[109],"optimizer,":[110],"altogether":[111],"addressing":[112],"aforementioned":[114],"limitations.":[115],"We":[116],"evaluate":[117],"our":[118,133],"computational":[119],"showcasing":[121],"three":[122],"different-sized":[123],"traversing":[126],"high-raised":[128],"naval":[129],"knee-knocker":[130],"door":[131],"using":[132],"proposed":[134],"simulation.":[137],"generate":[141],"motion":[142],"few":[146],"seconds":[147],"consisting":[148],"several":[150],"states,":[152],"feasibility":[155],"joint":[157],"space.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}