{"id":"https://openalex.org/W2085538925","doi":"https://doi.org/10.1109/iros.2007.4399209","title":"Motion planning for walking pattern generation of humanoid","display_name":"Motion planning for walking pattern generation of humanoid","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2085538925","doi":"https://doi.org/10.1109/iros.2007.4399209","mag":"2085538925"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5016270703","display_name":"Kensuke Harada","orcid":"https://orcid.org/0000-0002-7576-756X"},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]},{"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","PL"],"is_corresponding":false,"raw_author_name":"Kensuke Harada","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","Intelligent Syst. Res. Inst., Tsukuba"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Syst. Res. Inst., Tsukuba","institution_ids":["https://openalex.org/I66083562"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112091697","display_name":"Shizuko Hattori","orcid":null},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]},{"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","PL"],"is_corresponding":false,"raw_author_name":"Shizuko Hattori","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","Intelligent Syst. Res. Inst., Tsukuba"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Syst. Res. Inst., Tsukuba","institution_ids":["https://openalex.org/I66083562"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001711571","display_name":"Hirohisa Hirukawa","orcid":null},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]},{"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","PL"],"is_corresponding":false,"raw_author_name":"Hirohisa Hirukawa","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","Intelligent Syst. Res. Inst., Tsukuba"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Syst. Res. Inst., Tsukuba","institution_ids":["https://openalex.org/I66083562"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]},{"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","PL"],"is_corresponding":false,"raw_author_name":"Mitsuharu Morisawa","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","Intelligent Syst. Res. Inst., Tsukuba"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Syst. Res. Inst., Tsukuba","institution_ids":["https://openalex.org/I66083562"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102768470","display_name":"Shuuji Kajita","orcid":"https://orcid.org/0000-0001-8188-2209"},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]},{"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","PL"],"is_corresponding":false,"raw_author_name":"Shuuji Kajita","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","Intelligent Syst. Res. Inst., Tsukuba"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Syst. Res. Inst., Tsukuba","institution_ids":["https://openalex.org/I66083562"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080826821","display_name":"Eiichi Yoshida","orcid":"https://orcid.org/0000-0002-3077-6964"},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]},{"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","PL"],"is_corresponding":false,"raw_author_name":"Eiichi Yoshida","raw_affiliation_strings":["Humanoid Research Group, Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","Intelligent Syst. Res. Inst., Tsukuba"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Syst. Res. Inst., Tsukuba","institution_ids":["https://openalex.org/I66083562"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4227","last_page":"4233"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9994000196456909,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9959999918937683,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7258889079093933},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6358286142349243},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6115174293518066},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.6092455983161926},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.5991063117980957},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5571380853652954},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5269568562507629},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5253124833106995},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5120623707771301},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.4676002860069275},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.45549923181533813},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4458838999271393},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41846340894699097},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41560280323028564},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2684592306613922}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7258889079093933},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6358286142349243},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6115174293518066},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.6092455983161926},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.5991063117980957},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5571380853652954},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5269568562507629},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5253124833106995},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5120623707771301},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.4676002860069275},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.45549923181533813},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4458838999271393},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41846340894699097},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41560280323028564},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2684592306613922},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1517802146","https://openalex.org/W1536373029","https://openalex.org/W1863997888","https://openalex.org/W1906034729","https://openalex.org/W1971175227","https://openalex.org/W2075065376","https://openalex.org/W2104479525","https://openalex.org/W2114193135","https://openalex.org/W2114942020","https://openalex.org/W2118320757","https://openalex.org/W2128990851","https://openalex.org/W2133859362","https://openalex.org/W2142644931","https://openalex.org/W2153622987","https://openalex.org/W2163781471","https://openalex.org/W2164681577","https://openalex.org/W2540258482","https://openalex.org/W2543000889","https://openalex.org/W2545385919","https://openalex.org/W2611243847","https://openalex.org/W3086498226","https://openalex.org/W4240202985","https://openalex.org/W6631120994","https://openalex.org/W6632103127","https://openalex.org/W6677136972","https://openalex.org/W6682331140"],"related_works":["https://openalex.org/W3114548899","https://openalex.org/W2067759762","https://openalex.org/W4205162136","https://openalex.org/W4245224694","https://openalex.org/W813487984","https://openalex.org/W2593698653","https://openalex.org/W2651176679","https://openalex.org/W2153622987","https://openalex.org/W2151114014","https://openalex.org/W1587642588"],"abstract_inverted_index":{"In":[0,72],"this":[1],"paper,":[2],"we":[3,58,76,95],"plan":[4,59,96],"the":[5,27,34,40,45,49,52,55,60,65,70,79,84,93,97,101,105,110,113,118],"collision":[6,50,61],"free":[7,62],"motion":[8,18,63,74,98],"for":[9,64,89],"walking":[10,28,35],"pattern":[11,29,36],"generation":[12],"of":[13,26,67,86,92,104,112,117],"a":[14],"humanoid":[15],"robot.":[16],"Our":[17],"planner":[19],"can":[20,77],"take":[21],"into":[22],"account":[23],"several":[24],"features":[25],"generator.":[30],"We":[31],"first":[32],"run":[33],"generator":[37],"by":[38,123],"considering":[39],"contact":[41],"wrench":[42],"applied":[43],"to":[44],"robot":[46],"and":[47,54,125],"monitor":[48],"among":[51],"links":[53],"environments.":[56],"Then,":[57],"period":[66],"time":[68],"causing":[69],"collision.":[71],"our":[73],"planner,":[75],"consider":[78],"constraint":[80],"condition":[81],"which":[82],"are":[83],"functions":[85],"time.":[87],"Also,":[88],"keeping":[90,100],"balance":[91],"robot,":[94],"with":[99],"horizontal":[102],"position":[103],"COG":[106],"as":[107,109],"well":[108],"position/orientation":[111],"feet/hand.":[114],"The":[115],"effectiveness":[116],"proposed":[119],"method":[120],"is":[121],"confirmed":[122],"simulation":[124],"experiment.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2016,"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"}