{"id":"https://openalex.org/W2140717964","doi":"https://doi.org/10.1109/ichr.2009.5379604","title":"Pose-constrained whole-body planning using Task Space Region Chains","display_name":"Pose-constrained whole-body planning using Task Space Region Chains","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2140717964","doi":"https://doi.org/10.1109/ichr.2009.5379604","mag":"2140717964"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2009.5379604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379604","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/Pose-Constrained_Whole-Body_Planning_using_Task_Space_Region_Chains/6558695","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059459603","display_name":"Joel Chestnutt","orcid":null},"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":"Joel Chestnutt","raw_affiliation_strings":["Digital Human Research Center, AIST, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, AIST, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha S. Srinivasa","raw_affiliation_strings":["Intel Research Pittsburgh, Pittsburgh, PA, USA","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Intel Research Pittsburgh, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I1343180700"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021782513","display_name":"James Kuffner","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"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","US"],"is_corresponding":false,"raw_author_name":"James J. Kuffner","raw_affiliation_strings":["Digital Human Research Center, AIST, Tokyo, Japan","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, AIST, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113822737","display_name":"Satoshi Kagami","orcid":null},"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":"Satoshi Kagami","raw_affiliation_strings":["Digital Human Research Center, AIST, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, AIST, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5083082888"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":3.2804,"has_fulltext":true,"cited_by_count":30,"citation_normalized_percentile":{"value":0.92981393,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"181","last_page":"187"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"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":0.9965999722480774,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9941999912261963,"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/metric","display_name":"Metric (unit)","score":0.7161505818367004},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6053090691566467},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5612089037895203},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5509909987449646},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5317000150680542},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5026705265045166},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5006797313690186},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5001804828643799},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.48898136615753174},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4607781767845154},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.455120325088501},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.43180012702941895},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.24458745121955872},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0878317654132843},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.07003360986709595}],"concepts":[{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.7161505818367004},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6053090691566467},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5612089037895203},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5509909987449646},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5317000150680542},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5026705265045166},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5006797313690186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5001804828643799},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.48898136615753174},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4607781767845154},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.455120325088501},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.43180012702941895},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.24458745121955872},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0878317654132843},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.07003360986709595},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/ichr.2009.5379604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379604","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"},{"id":"pmh:oai:figshare.com:article/6558695","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Pose-Constrained_Whole-Body_Planning_using_Task_Space_Region_Chains/6558695","pdf_url":"https://figshare.com/articles/Pose-Constrained_Whole-Body_Planning_using_Task_Space_Region_Chains/6558695","source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:repository.cmu.edu:robotics-2044","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=2044&context=robotics","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6558695","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.187.7658","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.187.7658","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2009/12/humanoids09.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.643.8436","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.643.8436","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2009/12/dmitry_humanoids09-1.pdf","raw_type":"text"},{"id":"doi:10.1184/r1/6558695.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6558695.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6558695","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Pose-Constrained_Whole-Body_Planning_using_Task_Space_Region_Chains/6558695","pdf_url":"https://figshare.com/articles/Pose-Constrained_Whole-Body_Planning_using_Task_Space_Region_Chains/6558695","source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2983817602","display_name":null,"funder_award_id":"EEC-0540865","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3323168326","display_name":null,"funder_award_id":"0540865","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2140717964.pdf","grobid_xml":"https://content.openalex.org/works/W2140717964.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W652870439","https://openalex.org/W1965244358","https://openalex.org/W1989604857","https://openalex.org/W1997650413","https://openalex.org/W2021927715","https://openalex.org/W2068761489","https://openalex.org/W2075753041","https://openalex.org/W2102128251","https://openalex.org/W2110612452","https://openalex.org/W2112624395","https://openalex.org/W2118486992","https://openalex.org/W2123967128","https://openalex.org/W2134447392","https://openalex.org/W2135677376","https://openalex.org/W2163426622","https://openalex.org/W2403902171","https://openalex.org/W2479430657","https://openalex.org/W2540027626","https://openalex.org/W3104753760","https://openalex.org/W4244930641","https://openalex.org/W6667810368","https://openalex.org/W6713475873"],"related_works":["https://openalex.org/W2155467318","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W2359600231","https://openalex.org/W187779371","https://openalex.org/W3216757130","https://openalex.org/W2380019117","https://openalex.org/W2126380264","https://openalex.org/W2093343611","https://openalex.org/W1987886368"],"abstract_inverted_index":{"We":[0,139,165],"present":[1,106,141],"an":[2,33],"efficient":[3],"approach":[4,168],"to":[5,22,91],"generating":[6],"paths":[7],"for":[8,51,78,121,133],"humanoids":[9],"and":[10,67],"other":[11,163],"robotic":[12],"manipulators":[13],"that":[14,127],"uses":[15],"the":[16,38,42,93,119,130,170],"Task":[17],"Space":[18],"Region":[19],"(TSR)":[20],"framework":[21],"specify":[23],"manipulation":[24,179],"tasks.":[25,180],"TSRs":[26,53,76,87],"can":[27,64],"define":[28],"acceptable":[29],"goal":[30],"poses":[31,62],"of":[32,58,60,86,96,116,128,145,155,177],"end-effector":[34,61],"or":[35,44],"constraints":[36,95],"on":[37,169],"end-effector's":[39],"pose":[40,94],"during":[41],"path,":[43],"both.":[45],"First":[46],"presented":[47],"as":[48,160,162],"a":[49,55,70,83,97,114,142,175],"method":[50],"goal-specification,":[52],"are":[54,110],"straightforward":[56],"representation":[57],"sets":[59],"which":[63,68,109,152],"be":[65],"sampled":[66],"entail":[69],"clear":[71],"distance":[72,131],"metric.":[73],"This":[74],"makes":[75],"ideal":[77],"sampling-based":[79],"motion":[80],"planning.":[81],"However,":[82],"finite":[84],"set":[85],"is":[88,136,153],"sometimes":[89],"insufficient":[90],"capture":[92],"given":[98],"task.":[99],"To":[100],"describe":[101],"more":[102],"complex":[103],"constraints,":[104],"we":[105],"TSR":[107,122,134,158],"Chains,":[108],"defined":[111],"by":[112,173],"linking":[113],"series":[115],"TSRs.":[117],"Though":[118],"sampling":[120],"Chains":[123,135],"follows":[124],"clearly":[125],"from":[126],"TSRs,":[129],"metric":[132],"radically":[137],"different.":[138],"also":[140],"new":[143],"version":[144],"our":[146,167],"Constrained":[147],"Bidirectional":[148],"RRT":[149],"(CBiRRT2)":[150],"planner,":[151],"capable":[154],"planning":[156],"with":[157],"chains":[159],"well":[161],"constraints.":[164],"demonstrate":[166],"HRP3":[171],"robot":[172],"performing":[174],"variety":[176],"whole-body":[178]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}