{"id":"https://openalex.org/W2885830763","doi":"https://doi.org/10.1109/iros.2018.8593964","title":"Grid-Based Motion Planning Using Advanced Motions for Hexapod Robots","display_name":"Grid-Based Motion Planning Using Advanced Motions for Hexapod Robots","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2885830763","doi":"https://doi.org/10.1109/iros.2018.8593964","mag":"2885830763"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593964","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5058674852","display_name":"Wei Cheah","orcid":"https://orcid.org/0000-0003-0350-4346"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Wei Cheah","raw_affiliation_strings":["Robotics for Extreme Environments Lab (REEL), University of Manchester, UK"],"affiliations":[{"raw_affiliation_string":"Robotics for Extreme Environments Lab (REEL), University of Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002324571","display_name":"Hassan Hakim Khalili","orcid":null},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hassan Hakim Khalili","raw_affiliation_strings":["Robotics for Extreme Environments Lab (REEL), University of Manchester, UK"],"affiliations":[{"raw_affiliation_string":"Robotics for Extreme Environments Lab (REEL), University of Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080310566","display_name":"Simon Watson","orcid":"https://orcid.org/0000-0001-9783-0147"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Watson","raw_affiliation_strings":["Robotics for Extreme Environments Lab (REEL), University of Manchester, UK"],"affiliations":[{"raw_affiliation_string":"Robotics for Extreme Environments Lab (REEL), University of Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101646367","display_name":"Peter Green","orcid":"https://orcid.org/0000-0002-7189-8466"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Peter Green","raw_affiliation_strings":["Robotics for Extreme Environments Lab (REEL), University of Manchester, UK"],"affiliations":[{"raw_affiliation_string":"Robotics for Extreme Environments Lab (REEL), University of Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011590665","display_name":"Barry Lennox","orcid":"https://orcid.org/0000-0003-0905-8324"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Barry Lennox","raw_affiliation_strings":["Robotics for Extreme Environments Lab (REEL), University of Manchester, UK"],"affiliations":[{"raw_affiliation_string":"Robotics for Extreme Environments Lab (REEL), University of Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5058674852"],"corresponding_institution_ids":["https://openalex.org/I28407311"],"apc_list":null,"apc_paid":null,"fwci":0.8914,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.72539464,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3573","last_page":"3578"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9987999796867371,"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/hexapod","display_name":"Hexapod","score":0.983939528465271},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7108341455459595},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6349090337753296},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.629194974899292},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6241474747657776},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5704026222229004},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3261016607284546},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3259109556674957},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10763677954673767},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.08339852094650269}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.983939528465271},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7108341455459595},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6349090337753296},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.629194974899292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6241474747657776},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5704026222229004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3261016607284546},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3259109556674957},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10763677954673767},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.08339852094650269}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8593964","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/3fffa412-2664-4241-a237-5a3be4ddc48d","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/3fffa412-2664-4241-a237-5a3be4ddc48d","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cheah, W, Hakim Khalili, H, Watson, S, Green, P & Lennox, B 2018, 'Grid-based Motion Planning using Advanced Motions for Hexapod Robots', Paper presented at IEEE International Conference on Intelligent Robots and Systems (IROS) 2018, Madrid, Spain, 1/10/18 - 5/10/18.","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G2518717205","display_name":null,"funder_award_id":"EP/P01366X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1592294156","https://openalex.org/W1995051466","https://openalex.org/W2006010000","https://openalex.org/W2093298840","https://openalex.org/W2101207292","https://openalex.org/W2132022337","https://openalex.org/W2144587497","https://openalex.org/W2154139861","https://openalex.org/W2289148480","https://openalex.org/W2531596132","https://openalex.org/W2771137165","https://openalex.org/W2772066009","https://openalex.org/W2917487658","https://openalex.org/W3099855898","https://openalex.org/W6679191575","https://openalex.org/W6696357805","https://openalex.org/W6759727014"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W2789574804","https://openalex.org/W613729187","https://openalex.org/W2114803124","https://openalex.org/W2063353256","https://openalex.org/W123722128","https://openalex.org/W4390269031","https://openalex.org/W132946187","https://openalex.org/W2470916384","https://openalex.org/W4312379259"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,45,50,61,87,91,95,99,111,126,131,137,149,159,179],"motion":[4,100],"planning":[5,65],"framework":[6,66,152],"for":[7,14,105],"a":[8,123,141],"hexapod,":[9],"based":[10],"on":[11,158],"advanced":[12,32],"motions,":[13,33],"accessing":[15],"challenging":[16],"spaces,":[17],"namely":[18],"narrow":[19],"pathways":[20],"and":[21,35,108,139,177],"large":[22],"holes,":[23],"both":[24],"of":[25,94],"which":[26,75],"are":[27,42,84,103,145,171],"surrounded":[28],"by":[29],"walls.":[30],"The":[31,63,115,151,163],"wall":[34],"chimney":[36],"walking,":[37],"utilise":[38],"environment":[39],"surfaces":[40],"that":[41,170],"perpendicular":[43],"to":[44,48,72,86,110,121,125,135,168,174,183],"ground":[46,79,88],"plane":[47],"support":[49],"robot":[51],"motion.":[52],"Such":[53],"techniques":[54],"have":[55,76],"not":[56],"yet":[57],"been":[58,154],"studied":[59],"in":[60,156],"literature.":[62],"hierarchical":[64],"proposed":[67],"here":[68],"is":[69,118,133],"an":[70],"extension":[71],"existing":[73],"approaches":[74],"only":[77],"considered":[78],"walking":[80],"where":[81],"foothold":[82],"contacts":[83],"confined":[85],"plane.":[89],"During":[90],"pre-processing":[92],"phase":[93],"2.5D":[96],"grid":[97],"map,":[98],"primitives":[101],"employed":[102],"assessed":[104],"each":[106],"cell":[107],"stacked":[109],"graph":[112],"if":[113],"valid.":[114],"A*":[116],"algorithm":[117],"then":[119,146],"used":[120],"find":[122],"path":[124,132,165],"goal":[127],"position.":[128],"Following":[129],"that,":[130],"post-processed":[134],"smoothen":[136],"motions":[138],"generate":[140],"continuous":[142],"path.":[143,150],"Footholds":[144],"selected":[147],"along":[148],"has":[153],"evaluated":[155],"simulation":[157],"custom-designed":[160],"Corin":[161],"hexapod.":[162],"resulting":[164],"enables":[166],"access":[167],"areas":[169],"previously":[172],"thought":[173],"be":[175],"inaccessible":[176],"reduces":[178],"travelling":[180],"distance":[181],"compared":[182],"previous":[184],"studies.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
