{"id":"https://openalex.org/W2565818859","doi":"https://doi.org/10.1109/iros.2016.7759694","title":"Whole-body motion planning for humanoid robots with heuristic search","display_name":"Whole-body motion planning for humanoid robots with heuristic search","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2565818859","doi":"https://doi.org/10.1109/iros.2016.7759694","mag":"2565818859"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759694","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":"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/A5067920290","display_name":"Ali Athar","orcid":"https://orcid.org/0000-0001-6807-3925"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Ali Athar","raw_affiliation_strings":["Robotics & Intelligent Systems Engineering (RISE) Lab, School of Mechanical & Manufacturing Engineering (SMME), National University of Sciences & Technology (NUST), Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Intelligent Systems Engineering (RISE) Lab, School of Mechanical & Manufacturing Engineering (SMME), National University of Sciences & Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057773576","display_name":"Abdul Moeed Zafar","orcid":null},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Abdul Moeed Zafar","raw_affiliation_strings":["Robotics & Intelligent Systems Engineering (RISE) Lab, School of Mechanical & Manufacturing Engineering (SMME), National University of Sciences & Technology (NUST), Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Intelligent Systems Engineering (RISE) Lab, School of Mechanical & Manufacturing Engineering (SMME), National University of Sciences & Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087419436","display_name":"Asif Rizwan","orcid":"https://orcid.org/0000-0001-6129-2199"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Rizwan Asif","raw_affiliation_strings":["Robotics & Intelligent Systems Engineering (RISE) Lab, School of Mechanical & Manufacturing Engineering (SMME), National University of Sciences & Technology (NUST), Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Intelligent Systems Engineering (RISE) Lab, School of Mechanical & Manufacturing Engineering (SMME), National University of Sciences & Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029546520","display_name":"Armaghan Ahmad Khan","orcid":null},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Armaghan Ahmad Khan","raw_affiliation_strings":["Robotics & Intelligent Systems Engineering (RISE) Lab, School of Mechanical & Manufacturing Engineering (SMME), National University of Sciences & Technology (NUST), Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Intelligent Systems Engineering (RISE) Lab, School of Mechanical & Manufacturing Engineering (SMME), National University of Sciences & Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082050962","display_name":"Fahad Islam","orcid":"https://orcid.org/0000-0001-8384-1697"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Fahad Islam","raw_affiliation_strings":["Robotics & Intelligent Systems Engineering (RISE) Lab, School of Mechanical & Manufacturing Engineering (SMME), National University of Sciences & Technology (NUST), Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Intelligent Systems Engineering (RISE) Lab, School of Mechanical & Manufacturing Engineering (SMME), National University of Sciences & Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012777275","display_name":"Yasar Yasar","orcid":null},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Yasar","raw_affiliation_strings":["Robotics & Intelligent Systems Engineering (RISE) Lab, School of Mechanical & Manufacturing Engineering (SMME), National University of Sciences & Technology (NUST), Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Intelligent Systems Engineering (RISE) Lab, School of Mechanical & Manufacturing Engineering (SMME), National University of Sciences & Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066768973","display_name":"Osman Hasan","orcid":"https://orcid.org/0000-0003-2562-2669"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Osman Hasan","raw_affiliation_strings":["School of Electrical Engineering & Computer Sciences (SEECS), National University of Sciences & Technology (NUST), Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering & Computer Sciences (SEECS), National University of Sciences & Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I929597975"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4720","last_page":"4727"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9873999953269958,"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":0.8005845546722412},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6992195248603821},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6976547837257385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6957558989524841},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6419687867164612},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5256223082542419},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5227239727973938},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5214892625808716},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5171951055526733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5143641233444214},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.504543662071228},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46286851167678833},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4152505695819855},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3249962627887726},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13295960426330566}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8005845546722412},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6992195248603821},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6976547837257385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6957558989524841},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6419687867164612},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5256223082542419},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5227239727973938},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5214892625808716},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5171951055526733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5143641233444214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.504543662071228},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46286851167678833},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4152505695819855},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3249962627887726},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13295960426330566},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759694","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","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310207","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1140243306","https://openalex.org/W1627400044","https://openalex.org/W1969483458","https://openalex.org/W1986375212","https://openalex.org/W2004139909","https://openalex.org/W2010209632","https://openalex.org/W2068127265","https://openalex.org/W2078765782","https://openalex.org/W2098029503","https://openalex.org/W2099893201","https://openalex.org/W2108480458","https://openalex.org/W2114171536","https://openalex.org/W2118382442","https://openalex.org/W2128990851","https://openalex.org/W2139835588","https://openalex.org/W2141664020","https://openalex.org/W2161076907","https://openalex.org/W2164276476","https://openalex.org/W2543000889","https://openalex.org/W3117782478"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2280422768","https://openalex.org/W3143197806","https://openalex.org/W4252555497","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2997729061","https://openalex.org/W2541098390"],"abstract_inverted_index":{"The":[0,158],"task":[1,57],"of":[2,75,79,121,132,164],"whole-body":[3],"motion":[4,90,100,123,140,170],"planning":[5,101,171],"for":[6,21,55,88,103,152],"humanoid":[7,104,122],"robots":[8,105],"is":[9,126],"challenging":[10],"due":[11],"to":[12,37,117,167],"its":[13],"high-DOF":[14],"nature,":[15],"stability":[16],"constraints,":[17],"and":[18,24,45,77,145,174],"the":[19,30,80,108,118,162],"need":[20],"obstacle":[22],"avoidance":[23],"movements":[25],"that":[26,106],"are":[27,53,84],"efficient.":[28],"Over":[29],"years,":[31],"various":[32],"approaches":[33],"have":[34],"been":[35],"adopted":[36],"solve":[38],"this":[39,56,93],"problem":[40],"such":[41],"as":[42,142],"bounding-box":[43],"models":[44],"jacobian-based":[46],"techniques.":[47],"More":[48],"commonly":[49],"though,":[50],"sampling-based":[51],"algorithms":[52],"employed":[54],"since":[58],"they":[59,83],"perform":[60,168],"admirably":[61],"well":[62],"in":[63,73],"high-dimensional":[64,89],"spaces.":[65],"As":[66],"an":[67],"alternative,":[68],"search-based":[69,99,113],"planners":[70,114],"offer":[71],"improvements":[72],"terms":[74],"optimality":[76],"consistency":[78],"solution.":[81],"However,":[82],"normally":[85],"considered":[86],"impractical":[87],"planning.":[91,124],"In":[92],"paper,":[94],"we":[95],"present":[96],"a":[97,130,146],"heuristic":[98],"framework":[102,166],"circumvents":[107],"drawbacks":[109],"traditionally":[110],"associated":[111],"with":[112],"while":[115],"catering":[116],"specific":[119],"requirements":[120],"This":[125],"achieved":[127],"primarily":[128],"through":[129],"combination":[131],"informative":[133],"yet":[134],"computationally":[135],"inexpensive":[136],"heuristics,":[137],"carefully":[138],"crafted":[139],"primitives":[141],"atomic":[143],"actions,":[144],"whole":[147],"body":[148],"inverse":[149],"kinematics":[150],"solver":[151],"achieving":[153],"desired":[154],"end":[155],"effector":[156],"orientations.":[157],"experimental":[159],"results":[160],"show":[161],"ability":[163],"our":[165],"complex":[169],"tasks":[172],"quickly":[173],"efficiently.":[175]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}