{"id":"https://openalex.org/W2004842025","doi":"https://doi.org/10.1109/ichr.2009.5379517","title":"Motion planning for a vigilant humanoid robot","display_name":"Motion planning for a vigilant humanoid robot","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2004842025","doi":"https://doi.org/10.1109/ichr.2009.5379517","mag":"2004842025"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2009.5379517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379517","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 9th IEEE-RAS International Conference on Humanoid Robots","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/A5063186156","display_name":"Jean-Bernard Hayet","orcid":"https://orcid.org/0000-0002-6662-2553"},"institutions":[{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jean-Bernard Hayet","raw_affiliation_strings":["Computer Science Group, Centro de Investigaci\u00f3n en Matem\u00e1ticas, Guanajuato, Mexico","Computer Science Group, Centro de Investigaci\u00f3n en Matem\u00e1ticas, Guanajuato, Gto. 36240 M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Group, Centro de Investigaci\u00f3n en Matem\u00e1ticas, Guanajuato, Mexico","institution_ids":["https://openalex.org/I124618812"]},{"raw_affiliation_string":"Computer Science Group, Centro de Investigaci\u00f3n en Matem\u00e1ticas, Guanajuato, Gto. 36240 M\u00e9xico","institution_ids":["https://openalex.org/I124618812"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019038129","display_name":"Claudia Esteves","orcid":"https://orcid.org/0000-0003-4631-557X"},"institutions":[{"id":"https://openalex.org/I129858807","display_name":"Universidad de Guanajuato","ror":"https://ror.org/058cjye32","country_code":"MX","type":"education","lineage":["https://openalex.org/I129858807"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Claudia Esteves","raw_affiliation_strings":["Department of Mathematics, Universidad de Guanajuato, Guanajuato, Mexico","Department of Mathematics, Universidad de Guanajuato, Gto. 26240 M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, Universidad de Guanajuato, Guanajuato, Mexico","institution_ids":["https://openalex.org/I129858807"]},{"raw_affiliation_string":"Department of Mathematics, Universidad de Guanajuato, Gto. 26240 M\u00e9xico","institution_ids":["https://openalex.org/I129858807"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036640538","display_name":"Gustavo Arechavaleta","orcid":"https://orcid.org/0000-0002-5455-9681"},"institutions":[{"id":"https://openalex.org/I4210138439","display_name":"Centro de Investigaci\u00f3n en Materiales Avanzados","ror":"https://ror.org/03h954e30","country_code":"MX","type":"facility","lineage":["https://openalex.org/I4210138439"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]},{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Gustavo Arechavaleta","raw_affiliation_strings":["Robotics and Advance Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN (CINVESTAV), Saltillo, Coahuila, Mexico","Robotics and Advance Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Advance Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN (CINVESTAV), Saltillo, Coahuila, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Robotics and Advance Manufacturing Group, Centro de Investigaci\u00f3n y de Estudios Avanzados del IPN, Saltillo, Coah. M\u00e9xico","institution_ids":["https://openalex.org/I4210138439","https://openalex.org/I59361560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080826821","display_name":"Eiichi Yoshida","orcid":"https://orcid.org/0000-0002-3077-6964"},"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":"Eiichi Yoshida","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"196","last_page":"201"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9930999875068665,"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.9746999740600586,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8223500847816467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6135470271110535},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5985878705978394},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5754943490028381},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5636261105537415},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5509306192398071},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.5496129989624023},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5495251417160034},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5298457145690918},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5231189131736755},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4951836168766022},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4610881209373474},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41264641284942627},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.395516037940979},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3472552001476288},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07930469512939453},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06815394759178162}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8223500847816467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6135470271110535},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5985878705978394},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5754943490028381},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5636261105537415},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5509306192398071},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.5496129989624023},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5495251417160034},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5298457145690918},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5231189131736755},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4951836168766022},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4610881209373474},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41264641284942627},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.395516037940979},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3472552001476288},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07930469512939453},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06815394759178162},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2009.5379517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379517","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 9th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.800000011920929,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"},{"id":"https://openalex.org/F4320335331","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1480456688","https://openalex.org/W1982369156","https://openalex.org/W2048903599","https://openalex.org/W2062978913","https://openalex.org/W2088677124","https://openalex.org/W2092199022","https://openalex.org/W2100615611","https://openalex.org/W2108480458","https://openalex.org/W2114171536","https://openalex.org/W2133859362","https://openalex.org/W2148970883","https://openalex.org/W2167059557","https://openalex.org/W2169814710","https://openalex.org/W2186753998","https://openalex.org/W2407595822","https://openalex.org/W2545326092","https://openalex.org/W2983916874","https://openalex.org/W4285719527","https://openalex.org/W6686748279","https://openalex.org/W6714054548"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","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/W2291700020","https://openalex.org/W4386128912"],"abstract_inverted_index":{"This":[0,74],"paper":[1],"presents":[2],"a":[3,7,22],"motion":[4,46],"planner":[5,47],"for":[6,48],"vigilant":[8],"humanoid":[9,63,138],"robot.":[10],"In":[11],"this":[12,129],"context":[13],"of":[14,32,40,53,62,93,128],"surveillance,":[15],"the":[16,26,54,59,80,86,90,94,115,123,137],"robot":[17,139],"task":[18],"is":[19,76,131],"to":[20,58,78,113],"keep":[21],"distinctive":[23],"point":[24],"in":[25,28,121],"environment":[27],"sight":[29],"during":[30],"all":[31],"its":[33],"motion.":[34],"The":[35,126],"method":[36,130],"we":[37],"propose":[38],"consists":[39],"three":[41],"main":[42],"ingredients:":[43],"(1)":[44],"A":[45,98,109],"an":[49,67],"appropriate":[50],"simplified":[51],"model":[52],"walking":[55,100,106],"robot,":[56],"adapted":[57],"particular":[60,122],"needs":[61],"robots,":[64],"that":[65,103],"outputs":[66],"admissible":[68],"path":[69,75],"with":[70,133],"local":[71],"optimality":[72],"properties.":[73],"guaranteed":[77],"satisfy":[79,114],"visibility":[81],"constraints":[82],"resulting":[83],"both":[84],"from":[85,89],"landmark":[87],"and":[88,118],"angular":[91],"limits":[92],"mechanical":[95],"system;":[96],"(2)":[97],"generic":[99],"pattern":[101],"generator":[102],"produces":[104],"stable":[105],"motions;":[107],"(3)":[108],"generalized":[110],"inverse-kinematics":[111],"module":[112],"remaining":[116],"collisions":[117],"posture":[119],"constraints,":[120],"gaze":[124],"direction.":[125],"effectiveness":[127],"shown":[132],"several":[134],"examples":[135],"on":[136],"plataform":[140],"HRP-2.":[141]},"counts_by_year":[{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
