{"id":"https://openalex.org/W1670229376","doi":"https://doi.org/10.1109/icinfa.2015.7279304","title":"Coordinated whole-body motion planning for a humanoid robot used on orbit and planetary surface","display_name":"Coordinated whole-body motion planning for a humanoid robot used on orbit and planetary surface","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1670229376","doi":"https://doi.org/10.1109/icinfa.2015.7279304","mag":"1670229376"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2015.7279304","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279304","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","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/A5035195155","display_name":"Wenfu Xu","orcid":"https://orcid.org/0000-0001-8218-6061"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenfu Xu","raw_affiliation_strings":["Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, China","[Shenzhen Graduate School, Harbin Institute of Technology, 518055, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"[Shenzhen Graduate School, Harbin Institute of Technology, 518055, China]","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111206100","display_name":"Yanning Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanning Zheng","raw_affiliation_strings":["Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, China","[Shenzhen Graduate School, Harbin Institute of Technology, 518055, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"[Shenzhen Graduate School, Harbin Institute of Technology, 518055, China]","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006869576","display_name":"Bingshan Hu","orcid":"https://orcid.org/0000-0001-6760-9417"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bingshan Hu","raw_affiliation_strings":["Shanghai Institute of Aerospace Systems Engineering, Shanghai Key Laboratory of Spacecraft Mechanism, Shanghai, China","Shanghai Institute of Aerospace Systems Engineering, Shanghai Key Laboratory of Spacecraft Mechanism, 201109, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Institute of Aerospace Systems Engineering, Shanghai Key Laboratory of Spacecraft Mechanism, Shanghai, China","institution_ids":[]},{"raw_affiliation_string":"Shanghai Institute of Aerospace Systems Engineering, Shanghai Key Laboratory of Spacecraft Mechanism, 201109, China","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":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"312","last_page":"317"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9939000010490417,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9764999747276306,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6131458282470703},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5421690344810486},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5324334502220154},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5061127543449402},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4962318539619446},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4880007803440094},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4687272310256958},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.45101362466812134},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42760607600212097},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4253501892089844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40915533900260925},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3696914613246918},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3520660400390625},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3300069570541382},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2617621123790741},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2130025327205658},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1348770260810852}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6131458282470703},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5421690344810486},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5324334502220154},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5061127543449402},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4962318539619446},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4880007803440094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4687272310256958},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.45101362466812134},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42760607600212097},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4253501892089844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40915533900260925},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3696914613246918},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3520660400390625},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3300069570541382},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2617621123790741},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2130025327205658},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1348770260810852},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2015.7279304","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279304","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2010209632","https://openalex.org/W2035584708","https://openalex.org/W2067394231","https://openalex.org/W2069978089","https://openalex.org/W2073110621","https://openalex.org/W2104844913","https://openalex.org/W2108714391","https://openalex.org/W2114171536","https://openalex.org/W2139835588","https://openalex.org/W2316253223","https://openalex.org/W2318869929","https://openalex.org/W2330742316","https://openalex.org/W2335148174","https://openalex.org/W2545326092"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2163503851","https://openalex.org/W2034988786","https://openalex.org/W2220923292"],"abstract_inverted_index":{"To":[0],"avoid":[1],"large":[2],"cost":[3],"and":[4,10,20,39,49,65,82,97,111,127,194],"danger":[5],"of":[6,29,33,105,129,145,190,216],"Extravehicular":[7],"activity":[8],"(EVA)":[9],"planetary":[11,66,161],"surface":[12],"exploration,":[13],"a":[14,36],"humanoid":[15],"robot":[16,26,156,173],"with":[17,148],"high":[18],"flexibility":[19],"mobility":[21],"is":[22,27,72,109,116,157,165,182,209],"under":[23],"development.":[24],"This":[25,43],"composed":[28],"two":[30,40,107,134],"7-DOF":[31],"(degree":[32],"freedom)":[34],"arms,":[35],"1-DOF":[37],"waist":[38,147],"3-DOF":[41],"legs.":[42],"paper":[44],"established":[45,210],"the":[46,57,69,80,86,91,95,98,102,106,112,120,130,133,141,146,151,155,160,163,172,176,186,196,202,206,220],"kinematics":[47,100],"model":[48,208],"addressed":[50],"whole-body":[51,92],"coordinated":[52,179],"motion":[53,181],"planning":[54],"methods":[55],"for":[56,59,90,132,170],"robot,":[58],"different":[60],"application":[61],"cases:":[62],"on":[63,159],"orbit":[64],"surface.":[67],"For":[68],"former,":[70],"there":[71],"no":[73],"enough":[74],"gravity":[75,164],"(micro-":[76],"or":[77],"zero-gravity":[78],"environment),":[79],"dexterity":[81],"workspace":[83,115],"range":[84],"are":[85,136],"main":[87],"factors":[88],"considered":[89,169],"coordination.":[93],"Combining":[94],"position-level":[96],"velocity-level":[99],"equations,":[101],"common":[103],"manipulability":[104],"arms":[108,135],"analyzed,":[110],"best":[113],"reference":[114],"determined.":[117],"Inspired":[118],"by":[119],"human":[121],"motion,":[122],"an":[123],"appropriate":[124],"pose":[125],"(position":[126],"attitude)":[128],"target":[131],"then":[137],"resolved":[138],"according":[139],"to":[140,150,167,184],"desired":[142],"deflection":[143],"angle":[144],"respect":[149],"initial":[152],"configuration.":[153],"When":[154],"used":[158],"surface,":[162],"required":[166],"be":[168],"keeping":[171],"stable":[174],"during":[175],"mission.":[177],"The":[178],"whole":[180],"planned":[183],"adjust":[185],"robot's":[187],"COM":[188],"(center":[189],"mass":[191],"position)":[192],"position":[193],"make":[195],"ZMP":[197],"(Zero":[198],"Moment":[199],"Point)":[200],"satisfy":[201],"balance":[203],"condition.":[204],"Finally,":[205],"co-simulation":[207],"in":[211],"ADAMS/Simulation":[212],"environment.":[213],"Simulation":[214],"results":[215],"typical":[217],"cases":[218],"verify":[219],"proposed":[221],"methods.":[222]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
