{"id":"https://openalex.org/W2088373173","doi":"https://doi.org/10.1109/iros.2014.6943253","title":"More solutions means more problems: Resolving kinematic redundancy in robot locomotion on complex terrain","display_name":"More solutions means more problems: Resolving kinematic redundancy in robot locomotion on complex terrain","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2088373173","doi":"https://doi.org/10.1109/iros.2014.6943253","mag":"2088373173"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5048933183","display_name":"Brian Satzinger","orcid":null},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian W. Satzinger","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, University of California, Santa Barbara, CA, USA","Robotics Lab in the Dept. of Electrical and Computer Engineering, University of California, Santa Barbara, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"Robotics Lab in the Dept. of Electrical and Computer Engineering, University of California, Santa Barbara, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110172881","display_name":"Jason Reid","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason I. Reid","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of Technology, Pasadena, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113698207","display_name":"Max Bajracharya","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Max Bajracharya","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of Technology, Pasadena, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083044232","display_name":"Paul D. N. Hebert","orcid":"https://orcid.org/0000-0002-3081-6700"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Hebert","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of Technology, Pasadena, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071708309","display_name":"Katie Byl","orcid":null},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katie Byl","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, University of California, Santa Barbara, CA, USA","Robotics Lab in the Dept. of Electrical and Computer Engineering, University of California, Santa Barbara, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"Robotics Lab in the Dept. of Electrical and Computer Engineering, University of California, Santa Barbara, USA","institution_ids":["https://openalex.org/I154570441"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4861","last_page":"4867"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.989300012588501,"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":0.9779000282287598,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.8102202415466309},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7204666137695312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6105505228042603},{"id":"https://openalex.org/keywords/lookup-table","display_name":"Lookup table","score":0.5367259979248047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49863314628601074},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49427127838134766},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.481290727853775},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3699028193950653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2686355412006378},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2232905626296997}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8102202415466309},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7204666137695312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6105505228042603},{"id":"https://openalex.org/C134835016","wikidata":"https://www.wikidata.org/wiki/Q690265","display_name":"Lookup table","level":2,"score":0.5367259979248047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49863314628601074},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49427127838134766},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.481290727853775},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3699028193950653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2686355412006378},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2232905626296997},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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":2,"locations":[{"id":"doi:10.1109/iros.2014.6943253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.717.304","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.717.304","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ece.ucsb.edu/%7Ekatiebyl/papers/Satzinger_IROS_2014.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7400000095367432,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W1569732988","https://openalex.org/W1623433276","https://openalex.org/W2087485438","https://openalex.org/W2114171536","https://openalex.org/W2125393905","https://openalex.org/W2141664020","https://openalex.org/W2165739402","https://openalex.org/W2166162370","https://openalex.org/W2172037318","https://openalex.org/W2545385919","https://openalex.org/W6678713375"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2744818472","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2,148],"the":[3,25,68,85,103,115,143,155,164,175],"open":[4],"challenge":[5],"of":[6,72,125,142,158,191,193],"planning":[7],"quasi-static":[8],"walking":[9,39,73],"motions":[10,40],"for":[11,35],"robots":[12],"with":[13,51,183],"kinematically":[14],"redundant":[15],"limbs.":[16],"Focusing":[17],"on":[18,174,196],"RoboSimian,":[19],"a":[20,32,43,126,139],"quadrupedal":[21],"robot":[22],"developed":[23],"by":[24,41,117,153],"Jet":[26],"Propulsion":[27],"Laboratory":[28],"(JPL),":[29],"we":[30,95],"develop":[31],"practical":[33],"method":[34],"generating":[36],"statically":[37],"stable":[38],"pre-computing":[42],"reduced":[44],"dimensional":[45],"inverse":[46,181],"kinematics":[47,157,182],"(IK)":[48],"lookup":[49,61,128],"table":[50,62,185],"certain":[52],"uniqueness":[53],"and":[54,70,80,123,150,178,198,201],"smoothness":[55],"properties.":[56],"We":[57,187],"then":[58],"use":[59,124],"that":[60,147],"to":[63,109,112,162],"generate":[64],"IK":[65,100,184],"solutions":[66],"at":[67,102],"beginning":[69],"end":[71],"phases":[74],"(e.g.,":[75],"swing,":[76],"body":[77,165,176],"shift,":[78],"etc),":[79],"connect":[81],"these":[82],"waypoints":[83],"using":[84,154],"Rapidly":[86],"exploring":[87],"Random":[88],"Tree":[89],"Connect":[90],"(RRT-Connect)":[91],"algorithm":[92],"[1].":[93],"Thus,":[94],"avoid":[96],"arbitrarily":[97],"choosing":[98],"an":[99,189],"solution":[101],"goal":[104],"(that":[105],"may":[106],"turn":[107],"out":[108],"be":[110,132],"difficult":[111],"reach":[113],"from":[114],"start)":[116],"setting":[118],"this":[119,194],"choice":[120],"through":[121],"design":[122],"task-specific":[127],"table,":[129],"which":[130],"can":[131],"analyzed":[133],"offline.":[134],"Our":[135],"approach":[136],"also":[137],"introduces":[138],"complementary":[140],"formulation":[141],"RRT-Connect":[144],"configuration":[145],"space":[146],"contact":[149],"closure":[151],"constraints":[152],"forward":[156],"one":[159],"stance":[160,170],"leg":[161],"determine":[163],"pose":[166,177],"while":[167],"treating":[168],"additional":[169],"limbs":[171],"as":[172],"dependent":[173],"solving":[179],"their":[180],"lookup.":[186],"demonstrate":[188],"implementation":[190],"some":[192],"framework":[195],"RoboSimian":[197],"discuss":[199],"generalizations":[200],"extensions.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":3}],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2025-10-10T00:00:00"}
