{"id":"https://openalex.org/W2135120142","doi":"https://doi.org/10.1109/ichr.2010.5686829","title":"Safe adjustment regions for legged locomotion paths","display_name":"Safe adjustment regions for legged locomotion paths","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2135120142","doi":"https://doi.org/10.1109/ichr.2010.5686829","mag":"2135120142"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2010.5686829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th 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/A5011647300","display_name":"Joel Chestnutty","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joel Chestnutty","raw_affiliation_strings":["Digital Human Research Center, AIST, 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, AIST, 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082069894","display_name":"Yutaka Takaokaz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yutaka Takaokaz","raw_affiliation_strings":["Partner Robot Division, TOYOTA Motor Corporation, Toyota-cho, Aichi 471-8571, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Partner Robot Division, TOYOTA Motor Corporation, Toyota-cho, Aichi 471-8571, Japan","institution_ids":["https://openalex.org/I4210137853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084063947","display_name":"Masahiro Doiz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Doiz","raw_affiliation_strings":["Partner Robot Division, TOYOTA Motor Corporation, Toyota-cho, Aichi 471-8571, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Partner Robot Division, TOYOTA Motor Corporation, Toyota-cho, Aichi 471-8571, Japan","institution_ids":["https://openalex.org/I4210137853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031162331","display_name":"Keisuke Sugaz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keisuke Sugaz","raw_affiliation_strings":["Partner Robot Division, TOYOTA Motor Corporation, Toyota-cho, Aichi 471-8571, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Partner Robot Division, TOYOTA Motor Corporation, Toyota-cho, Aichi 471-8571, Japan","institution_ids":["https://openalex.org/I4210137853"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074953037","display_name":"Satoshi Kagamiy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Satoshi Kagamiy","raw_affiliation_strings":["Digital Human Research Center, AIST, 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, AIST, 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"77","issue":null,"first_page":"224","last_page":"229"},"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":0.9955999851226807,"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":0.9857000112533569,"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/touchdown","display_name":"Touchdown","score":0.9604098200798035},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7810654044151306},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7681446671485901},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6931073069572449},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6274468302726746},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5848290920257568},{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.5662314891815186},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48381561040878296},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4628659188747406},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44641953706741333},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.433448851108551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28169846534729004},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1865936517715454},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07301923632621765}],"concepts":[{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.9604098200798035},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7810654044151306},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7681446671485901},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6931073069572449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6274468302726746},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5848290920257568},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.5662314891815186},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48381561040878296},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4628659188747406},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44641953706741333},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.433448851108551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28169846534729004},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1865936517715454},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07301923632621765},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2010.5686829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th 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","display_name":"Sustainable cities and communities","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2021512411","https://openalex.org/W2078908663","https://openalex.org/W2092035644","https://openalex.org/W2103495448","https://openalex.org/W2109363336","https://openalex.org/W2120526103","https://openalex.org/W2120901264","https://openalex.org/W2125356896","https://openalex.org/W2127895608","https://openalex.org/W2136771840","https://openalex.org/W2142132924","https://openalex.org/W2159541442","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W2541589810","https://openalex.org/W6678790860"],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2579089916","https://openalex.org/W2058088690","https://openalex.org/W2086597735","https://openalex.org/W2052143774","https://openalex.org/W4308297792","https://openalex.org/W1607811686","https://openalex.org/W4285089922"],"abstract_inverted_index":{"Balance":[0],"and":[1,10,21],"stability":[2],"are":[3,111],"critical":[4],"issues":[5],"for":[6,67],"a":[7,65,93,98,114],"humanoid":[8,116],"robot,":[9],"various":[11],"different":[12],"strategies":[13],"have":[14],"been":[15],"employed":[16],"to":[17,23],"increase":[18],"their":[19],"robustness":[20],"respond":[22],"disturbances":[24],"while":[25],"walking,":[26],"such":[27],"as":[28],"adjusting":[29],"the":[30,35,40,49,64,89],"torso's":[31],"trajectory,":[32],"or":[33,44,57],"changing":[34,48],"foot's":[36],"touchdown":[37,50,72],"location.":[38],"In":[39],"presence":[41],"of":[42,71,92],"obstacles":[43],"rough":[45,102],"terrain,":[46],"however,":[47],"location":[51,73],"can":[52,104],"be":[53,105],"dangerous,":[54],"causing":[55],"collisions":[56],"unstable":[58],"support":[59],"configurations.":[60],"This":[61],"paper":[62],"describes":[63],"method":[66],"integrating":[68],"this":[69],"sort":[70],"adjustment":[74,85],"with":[75],"foothold":[76],"evaluation":[77],"from":[78],"footstep":[79],"planning":[80],"approaches.":[81],"We":[82],"compute":[83],"safe":[84],"regions,":[86],"which":[87],"inform":[88],"walking":[90],"controller":[91],"legged":[94],"robot":[95],"how":[96],"much":[97],"particular":[99],"step":[100],"through":[101],"terrain":[103],"adjusted":[106],"yet":[107],"remain":[108],"safe.":[109],"Results":[110],"demonstrated":[112],"on":[113],"prototype":[115],"robot.":[117]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}