{"id":"https://openalex.org/W4415524442","doi":"https://doi.org/10.1109/humanoids65713.2025.11203091","title":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","display_name":"Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524442","doi":"https://doi.org/10.1109/humanoids65713.2025.11203091"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th 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/A5088700428","display_name":"Victor Dh\u00e9din","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Victor Dh\u00e9din","raw_affiliation_strings":["Technical University of Munich (TUM),Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich (TUM),Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110372730","display_name":"Haizhou Zhao","orcid":"https://orcid.org/0009-0008-6919-4057"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haizhou Zhao","raw_affiliation_strings":["New York University (NYU),Tandon School of Engineering,USA"],"affiliations":[{"raw_affiliation_string":"New York University (NYU),Tandon School of Engineering,USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043216529","display_name":"Majid Khadiv","orcid":"https://orcid.org/0000-0001-9889-6543"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Majid Khadiv","raw_affiliation_strings":["Technical University of Munich (TUM),Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich (TUM),Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5088700428"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41468597,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"245","last_page":"252"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9850999712944031,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9850999712944031,"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/T12290","display_name":"Human Motion and Animation","score":0.9790999889373779,"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":0.9745000004768372,"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/traverse","display_name":"Traverse","score":0.7437999844551086},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.6692000031471252},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6087999939918518},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5992000102996826},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.586899995803833},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.526199996471405},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49459999799728394},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.46399998664855957}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7437999844551086},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.6692000031471252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6169000267982483},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6087999939918518},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5992000102996826},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.586899995803833},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.526199996471405},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49459999799728394},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.46399998664855957},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4587000012397766},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4577000141143799},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.39899998903274536},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.39640000462532043},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.3785000145435333},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3474000096321106},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.34139999747276306},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.323199987411499},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.31839999556541443},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2973000109195709},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.2614000141620636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th 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":21,"referenced_works":["https://openalex.org/W1625390266","https://openalex.org/W2015149365","https://openalex.org/W2061983716","https://openalex.org/W2101340954","https://openalex.org/W2158782408","https://openalex.org/W2774366155","https://openalex.org/W2842089854","https://openalex.org/W2906487027","https://openalex.org/W3046286341","https://openalex.org/W3089750699","https://openalex.org/W3091756548","https://openalex.org/W3202328163","https://openalex.org/W3207305612","https://openalex.org/W4285102312","https://openalex.org/W4403035129","https://openalex.org/W4404954016","https://openalex.org/W4405520854","https://openalex.org/W4405787394","https://openalex.org/W4406779533","https://openalex.org/W4410879364","https://openalex.org/W6903318232"],"related_works":[],"abstract_inverted_index":{"Legged":[0],"robots":[1],"have":[2],"the":[3,100,111,118,133],"potential":[4],"to":[5,52,91],"traverse":[6],"highly":[7,20,61,105],"constrained":[8],"environments":[9],"with":[10,24],"agile":[11],"maneuvers.":[12,109],"However,":[13],"planning":[14],"such":[15],"motions":[16],"requires":[17],"solving":[18],"a":[19,25,38,76,92,137],"challenging":[21,62],"optimization":[22,50],"problem":[23],"mixture":[26],"of":[27,79,113,121,136],"continuous":[28],"and":[29,47,57,125],"discrete":[30],"decision":[31],"variables.":[32],"In":[33],"this":[34,116],"paper,":[35],"we":[36,68],"present":[37],"full":[39],"pipeline":[40],"based":[41],"on":[42,60],"Monte-Carlo":[43],"tree":[44],"search":[45],"(MCTS)":[46],"whole-body":[48],"trajectory":[49],"(TO)":[51],"perform":[53],"simultaneous":[54,122],"contact":[55,123],"sequence":[56,124],"patch":[58,126],"selection":[59,127],"environments.":[63],"Through":[64],"extensive":[65],"simulation":[66],"experiments,":[67],"show":[69,85,98],"that":[70,86,99],"our":[71,114],"framework":[72,102],"can":[73,103],"quickly":[74],"find":[75,104],"diverse":[77],"set":[78],"dynamically":[80],"consistent":[81],"plans.":[82],"We":[83,96],"experimentally":[84],"these":[87],"plans":[88],"are":[89],"transferable":[90],"real":[93],"quadruped":[94,138],"robot.":[95],"further":[97],"same":[101],"complex":[106],"acyclic":[107,129],"humanoid":[108],"To":[110],"best":[112],"knowledge,":[115],"is":[117],"first":[119],"demonstration":[120],"for":[128],"multi-contact":[130],"locomotion":[131],"using":[132],"wholebody":[134],"dynamics":[135],"(video*https://youtu.be/Is_NNQbW10c.":[139]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-24T00:00:00"}
