{"id":"https://openalex.org/W2561317542","doi":"https://doi.org/10.1109/iros.2016.7759571","title":"Towards computationally efficient planning of dynamic multi-contact locomotion","display_name":"Towards computationally efficient planning of dynamic multi-contact locomotion","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2561317542","doi":"https://doi.org/10.1109/iros.2016.7759571","mag":"2561317542"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5003716751","display_name":"Gray C. Thomas","orcid":"https://orcid.org/0000-0003-4466-3466"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Gray C. Thomas","raw_affiliation_strings":["Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5003716751"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.501,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.73779516,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"3879","last_page":"3886"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.998199999332428,"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/computer-science","display_name":"Computer science","score":0.6256085634231567}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6256085634231567}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1517802146","https://openalex.org/W1553998366","https://openalex.org/W1661823234","https://openalex.org/W1940417524","https://openalex.org/W1963750790","https://openalex.org/W1964958898","https://openalex.org/W2000359213","https://openalex.org/W2006010000","https://openalex.org/W2011301426","https://openalex.org/W2026498687","https://openalex.org/W2026733661","https://openalex.org/W2037729465","https://openalex.org/W2055201760","https://openalex.org/W2074042377","https://openalex.org/W2091197916","https://openalex.org/W2115091574","https://openalex.org/W2128990851","https://openalex.org/W2136209220","https://openalex.org/W2138419444","https://openalex.org/W2146494230","https://openalex.org/W2153413894","https://openalex.org/W2155612543","https://openalex.org/W2214997985","https://openalex.org/W2523146987","https://openalex.org/W2539534359","https://openalex.org/W3102051120","https://openalex.org/W3103565931","https://openalex.org/W4285719527","https://openalex.org/W6640401734","https://openalex.org/W6727837994"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0,56,75],"paper":[1],"considers":[2],"the":[3,26,61,68,136,149,161,177],"problem":[4,27,141],"of":[5,63,71,148,155,160,164,179],"numerically":[6],"efficient":[7],"planning":[8,17,130,178],"for":[9,86,132,142],"legged":[10],"robot":[11,143],"locomotion,":[12],"aiming":[13],"towards":[14,113],"reactive":[15],"multi-contact":[16],"as":[18,98,109],"a":[19,40,46,83,89,99,110,170],"reliability":[20],"feature.":[21],"We":[22],"propose":[23],"to":[24,101,126,175],"decompose":[25],"into":[28],"two":[29],"parts:":[30],"an":[31],"extremely":[32],"low":[33],"dimensional":[34],"kinematic":[35],"search,":[36,103],"which":[37,49,115],"only":[38],"adjusts":[39],"geometric":[41],"path":[42],"through":[43],"space;":[44],"and":[45,66,104,135],"dynamic":[47,57],"optimization,":[48],"we":[50],"focus":[51],"on":[52],"in":[53,169],"this":[54],"paper.":[55],"optimization":[58],"also":[59],"includes":[60],"selection":[62],"foot":[64,73,90,118],"steps":[65],"hand-holds-in":[67],"special":[69],"case":[70,76],"instantaneous":[72],"re-location.":[74],"is":[77,82,152],"interesting":[78],"because":[79],"(1)":[80],"it":[81,94,106],"limiting":[84],"behavior":[85],"algorithms":[87,114],"with":[88,158],"switching":[91],"cost,":[92],"(2)":[93],"may":[95],"have":[96],"merit":[97],"heuristic":[100],"guide":[102],"(3)":[105],"could":[107],"act":[108],"building":[111],"block":[112],"do":[116],"consider":[117],"transition":[119],"cost.":[120],"The":[121],"algorithm":[122],"bears":[123],"similarity":[124],"both":[125],"phase":[127],"space":[128],"locomotion":[129,181],"techniques":[131],"bipedal":[133],"walking":[134],"minimum":[137],"time":[138],"trajectory":[139],"scaling":[140],"arms.":[144],"A":[145],"fundamental":[146],"aspect":[147],"algorithm's":[150],"efficiency":[151],"its":[153],"use":[154],"linear":[156],"programming":[157],"reuse":[159],"active":[162],"set":[163],"inequality":[165],"constraints.":[166],"Simulation":[167],"results":[168],"simplified":[171],"setting":[172],"are":[173],"used":[174],"demonstrate":[176],"agile":[180],"behaviors.":[182]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
