{"id":"https://openalex.org/W3089750699","doi":"https://doi.org/10.1109/icra40945.2020.9197371","title":"","display_name":"","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3089750699","doi":"https://doi.org/10.1109/icra40945.2020.9197371","mag":"3089750699"},"language":"en","primary_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/f181e24d-b3b5-4e5c-8e08-c393e4bec0ea","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11820/f181e24d-b3b5-4e5c-8e08-c393e4bec0ea","pdf_url":"https://www.research.ed.ac.uk/en/publications/f181e24d-b3b5-4e5c-8e08-c393e4bec0ea","source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":"","raw_type":""},"type":"preprint","indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/f181e24d-b3b5-4e5c-8e08-c393e4bec0ea","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043622443","display_name":"Steve Tonneau","orcid":"https://orcid.org/0000-0003-3001-8693"},"institutions":[{"id":"https://openalex.org/I4210167018","display_name":"Interaction Design (United Kingdom)","ror":"https://ror.org/03qfyes53","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210167018"]},{"id":"https://openalex.org/I4210128676","display_name":"Human Computer Interaction (Switzerland)","ror":"https://ror.org/036dv6j71","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210128676"]}],"countries":["CH","GB"],"is_corresponding":true,"raw_author_name":"Steve Tonneau","raw_affiliation_strings":["School of Informatics","Institute of Perception, Action and Behaviour","Language, Interaction, and Robotics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics","institution_ids":[]},{"raw_affiliation_string":"Institute of Perception, Action and Behaviour","institution_ids":[]},{"raw_affiliation_string":"Language, Interaction, and Robotics","institution_ids":["https://openalex.org/I4210128676","https://openalex.org/I4210167018"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030864184","display_name":"Daeun Song","orcid":"https://orcid.org/0000-0002-8009-2149"},"institutions":[{"id":"https://openalex.org/I4210132203","display_name":"Ewha Womans University Medical Center","ror":"https://ror.org/03exgrk66","country_code":"KR","type":"healthcare","lineage":["https://openalex.org/I138925566","https://openalex.org/I4210132203"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Daeun Song","raw_affiliation_strings":["EWHA Womans University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EWHA Womans University","institution_ids":["https://openalex.org/I4210132203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020382725","display_name":"Pierre Fernbach","orcid":"https://orcid.org/0000-0002-6850-7110"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pierre Fernbach","raw_affiliation_strings":["\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046876471","display_name":"Nicolas Mansard","orcid":"https://orcid.org/0000-0002-8090-0601"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nicolas  Mansard","raw_affiliation_strings":["\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063956676","display_name":"Michel Ta\u00efx","orcid":"https://orcid.org/0000-0001-7822-1848"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michel Ta\u00efx","raw_affiliation_strings":["\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038165484","display_name":"Andrea Del Prete","orcid":"https://orcid.org/0000-0003-1275-2851"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Del Prete","raw_affiliation_strings":["University of Trento [Trento]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Trento [Trento]","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5043622443"],"corresponding_institution_ids":["https://openalex.org/I4210128676","https://openalex.org/I4210167018"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":36,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9671000242233276,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9613999724388123,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/computer-science","display_name":"Computer science","score":0.6362321376800537},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6284109354019165},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.599398136138916},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5251885652542114},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.5123645067214966},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.49860358238220215},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49229350686073303},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.41292843222618103},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.29946738481521606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18896344304084778},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18454855680465698}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6362321376800537},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6284109354019165},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.599398136138916},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5251885652542114},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.5123645067214966},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.49860358238220215},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49229350686073303},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.41292843222618103},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29946738481521606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18896344304084778},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18454855680465698},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:pure.ed.ac.uk:publications/f181e24d-b3b5-4e5c-8e08-c393e4bec0ea","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11820/f181e24d-b3b5-4e5c-8e08-c393e4bec0ea","pdf_url":"https://www.research.ed.ac.uk/en/publications/f181e24d-b3b5-4e5c-8e08-c393e4bec0ea","source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":"","raw_type":""},{"id":"pmh:oai:iris.unitn.it:11572/336357","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/document/9197371","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/f181e24d-b3b5-4e5c-8e08-c393e4bec0ea","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11820/f181e24d-b3b5-4e5c-8e08-c393e4bec0ea","pdf_url":"https://www.research.ed.ac.uk/en/publications/f181e24d-b3b5-4e5c-8e08-c393e4bec0ea","source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":"","raw_type":""},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3089750699.pdf"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1517802146","https://openalex.org/W1605218591","https://openalex.org/W1983512267","https://openalex.org/W2015149365","https://openalex.org/W2042408133","https://openalex.org/W2095143145","https://openalex.org/W2217484997","https://openalex.org/W2275744966","https://openalex.org/W2296319761","https://openalex.org/W2345626358","https://openalex.org/W2503361011","https://openalex.org/W2541589810","https://openalex.org/W2567729074","https://openalex.org/W2597700484","https://openalex.org/W2614308505","https://openalex.org/W2625093932","https://openalex.org/W2756184572","https://openalex.org/W2763052367","https://openalex.org/W2767178383","https://openalex.org/W2788030459","https://openalex.org/W2789286310","https://openalex.org/W2902634936","https://openalex.org/W2905259751","https://openalex.org/W2908623834","https://openalex.org/W2946484349","https://openalex.org/W2949979136","https://openalex.org/W3012062338","https://openalex.org/W3046005546","https://openalex.org/W3102715624","https://openalex.org/W4246876444","https://openalex.org/W4250589301","https://openalex.org/W4255202267","https://openalex.org/W4297825594"],"related_works":["https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W17155033","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2143461633","https://openalex.org/W2150194458","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W4321471459"],"abstract_inverted_index":{"One":[0],"of":[1,5,52,59,81,84,88,96],"the":[2,13,49,56,66,82,89,94,149],"main":[3],"challenges":[4],"planning":[6,68,109],"legged":[7],"locomotion":[8],"in":[9,146],"complex":[10],"environments":[11],"is":[12,30,124,144],"combinatorial":[14,45],"contact":[15,28,67,90,117,140],"selection":[16],"problem.":[17],"Recent":[18],"contributions":[19],"propose":[20],"to":[21,25,34,42,64,105,126],"use":[22],"integer":[23],"variables":[24],"represent":[26],"which":[27,134],"surface":[29],"selected,":[31],"and":[32,87,153],"then":[33],"rely":[35],"on":[36],"modern":[37],"mixed-integer":[38],"(MI)":[39],"optimization":[40],"solvers":[41],"handle":[43],"this":[44],"issue.":[46],"To":[47],"reduce":[48],"computational":[50],"cost":[51],"MI,":[53],"we":[54],"exploit":[55],"sparsity":[57],"properties":[58],"L1":[60],"norm":[61],"minimization":[62],"techniques":[63],"relax":[65],"problem":[69],"into":[70],"a":[71,97],"feasibility":[72],"linear":[73],"program.":[74],"Our":[75],"approach":[76,123],"accounts":[77],"for":[78,119,138],"kinematic":[79],"reachability":[80],"center":[83],"mass":[85],"(COM)":[86],"effectors.":[91],"We":[92],"ensure":[93],"existence":[95],"quasi-static":[98],"COM":[99],"trajectory":[100],"by":[101],"restricting":[102],"our":[103,122],"plan":[104],"quasi-flat":[106],"contacts.":[107],"For":[108],"10":[110,115],"steps":[111],"with":[112,148],"less":[113],"than":[114],"potential":[116,136],"surfaces":[118],"each":[120],"phase,":[121],"50":[125],"100":[127],"times":[128],"faster":[129],"that":[130],"its":[131],"MI":[132],"counterpart,":[133],"suggests":[135],"applications":[137],"online":[139],"re-planning.":[141],"The":[142],"method":[143],"demonstrated":[145],"simulation":[147],"humanoid":[150],"robots":[151],"HRP-2":[152],"Talos":[154],"over":[155],"various":[156],"scenarios.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}