{"id":"https://openalex.org/W2168548781","doi":"https://doi.org/10.1109/ichr.2009.5379548","title":"Footstep planning for humanoid robots among obstacles of various types","display_name":"Footstep planning for humanoid robots among obstacles of various types","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2168548781","doi":"https://doi.org/10.1109/ichr.2009.5379548","mag":"2168548781"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2009.5379548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379548","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":"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/A5101979667","display_name":"Yasar Ayaz","orcid":"https://orcid.org/0000-0002-2425-9063"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yasar Ayaz","raw_affiliation_strings":["Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035452937","display_name":"Takuya Owa","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuya Owa","raw_affiliation_strings":["Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102762650","display_name":"Teppei Tsujita","orcid":"https://orcid.org/0000-0002-5293-8522"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Teppei Tsujita","raw_affiliation_strings":["Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063403718","display_name":"Atsushi Konno","orcid":"https://orcid.org/0000-0003-3288-8844"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Konno","raw_affiliation_strings":["Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020893146","display_name":"Khalid Munawar","orcid":"https://orcid.org/0000-0003-1557-2629"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Khalid Munawar","raw_affiliation_strings":["Department of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Science and Technology, Rawalpindi, Pakistan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Science and Technology, Rawalpindi, Pakistan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaru Uchiyama","raw_affiliation_strings":["Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, Graduate School of Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101979667"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":1.5564,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.83291065,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"361","last_page":"366"},"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":0.9693999886512756,"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":0.9527999758720398,"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":0.835893452167511},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7775008678436279},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.7521597743034363},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6746622323989868},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6676751971244812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6621601581573486},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.6110708117485046},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6067007780075073},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5973221063613892},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5824358463287354},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5267269611358643},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4559219479560852},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41633492708206177},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.413668692111969},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4128516912460327},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.402559757232666},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07825407385826111},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07341894507408142}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.835893452167511},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7775008678436279},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.7521597743034363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6746622323989868},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6676751971244812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6621601581573486},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6110708117485046},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6067007780075073},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5973221063613892},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5824358463287354},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5267269611358643},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4559219479560852},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41633492708206177},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.413668692111969},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4128516912460327},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.402559757232666},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07825407385826111},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07341894507408142},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2009.5379548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379548","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W137679310","https://openalex.org/W1606590749","https://openalex.org/W1962169445","https://openalex.org/W1982369156","https://openalex.org/W2000405511","https://openalex.org/W2075301351","https://openalex.org/W2102729053","https://openalex.org/W2125356896","https://openalex.org/W2126222857","https://openalex.org/W2139039898","https://openalex.org/W2149850442","https://openalex.org/W2166162370","https://openalex.org/W2169029690","https://openalex.org/W2540132834","https://openalex.org/W6605594125"],"related_works":["https://openalex.org/W2366394613","https://openalex.org/W2152421698","https://openalex.org/W2543019745","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W2910269320"],"abstract_inverted_index":{"The":[0],"unique":[1],"ability":[2],"of":[3,35,79,108,146],"humanoid":[4,55,110],"robots":[5],"to":[6,44,54,68,142],"step":[7],"over":[8,135],"or":[9],"upon":[10],"obstacles":[11,136],"is":[12],"left":[13],"unexploited":[14],"if":[15],"ordinary":[16],"mobile":[17],"robot":[18,56,111],"navigation":[19],"strategies":[20,31],"are":[21,39],"used":[22],"for":[23,81,124],"humanoids":[24],"as":[25,128,130],"well.":[26],"Recently":[27],"presented":[28,50],"path":[29],"planning":[30,58,131],"that":[32,63],"make":[33],"use":[34],"this":[36],"capability,":[37],"however,":[38],"very":[40],"time":[41],"consuming":[42],"due":[43],"high":[45],"computational":[46],"complexity.":[47],"We":[48],"have":[49],"a":[51,65,77],"novel":[52],"approach":[53,67],"footstep":[57,99],"in":[59,113],"obstacle":[60,118],"cluttered":[61],"environments":[62],"employs":[64],"human-like":[66],"terrain":[69],"traversal.":[70],"This":[71],"paper":[72],"mainly":[73],"centers":[74],"on":[75],"providing":[76],"proof":[78],"concept":[80],"the":[82,143],"algorithm":[83],"while":[84],"also":[85,121],"bringing":[86],"about":[87],"some":[88],"improvements.":[89],"Unlike":[90],"previous":[91],"statically":[92],"stable":[93],"simulation":[94],"work,":[95],"here":[96],"we":[97],"present":[98],"plans":[100],"including":[101],"dynamic":[102],"walk":[103],"together":[104],"with":[105,116],"practical":[106],"results":[107],"HRP-2":[109],"navigating":[112],"various":[114],"scenarios":[115],"different":[117],"characteristics.":[119],"These":[120],"include":[122],"catering":[123],"body":[125],"sway":[126],"dynamics":[127],"well":[129],"and":[132],"executing":[133],"stepping":[134],"encountered":[137],"at":[138],"angles":[139],"not":[140],"perpendicular":[141],"robot's":[144],"line":[145],"motion.":[147]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}