{"id":"https://openalex.org/W3003919497","doi":"https://doi.org/10.1109/iros40897.2019.8968196","title":"Autonomous Safe Locomotion System for Bipedal Robot Applying Vision and Sole Reaction Force to Footstep Planning","display_name":"Autonomous Safe Locomotion System for Bipedal Robot Applying Vision and Sole Reaction Force to Footstep Planning","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003919497","doi":"https://doi.org/10.1109/iros40897.2019.8968196","mag":"3003919497"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5065414311","display_name":"Yuki Omori","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yuki Omori","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073715197","display_name":"Yuta Kojio","orcid":"https://orcid.org/0000-0003-3095-1520"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuta Kojio","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056267728","display_name":"Tatsuya Ishikawa","orcid":"https://orcid.org/0000-0002-0608-6752"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tatsuya Ishikawa","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072306746","display_name":"Kunio Kojima","orcid":"https://orcid.org/0000-0003-2198-8591"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kunio Kojima","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091784384","display_name":"Fumihito Sugai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fumihito Sugai","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112241257","display_name":"Yohei Kakiuchi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yohei Kakiuchi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5065414311"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1956,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.5231646,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4891","last_page":"4898"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9957000017166138,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/robot","display_name":"Robot","score":0.7710328102111816},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6645280122756958},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6363703012466431},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.590324878692627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5683507919311523},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.550056517124176},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.5424081087112427},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5279195308685303},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4451707601547241},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4181172251701355},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3734396994113922},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3677555322647095},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.324265718460083},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09231576323509216},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.08325928449630737}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7710328102111816},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6645280122756958},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6363703012466431},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.590324878692627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5683507919311523},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.550056517124176},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.5424081087112427},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5279195308685303},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4451707601547241},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4181172251701355},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3734396994113922},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3677555322647095},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.324265718460083},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09231576323509216},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.08325928449630737},{"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":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1903029394","https://openalex.org/W1913661415","https://openalex.org/W1962169445","https://openalex.org/W1969483458","https://openalex.org/W1976272837","https://openalex.org/W1980658434","https://openalex.org/W2008906712","https://openalex.org/W2060613652","https://openalex.org/W2109363336","https://openalex.org/W2118320757","https://openalex.org/W2142132924","https://openalex.org/W2147561631","https://openalex.org/W2150387201","https://openalex.org/W2503394469","https://openalex.org/W2541589810","https://openalex.org/W2566210125","https://openalex.org/W2570886061","https://openalex.org/W2775016507","https://openalex.org/W2784148011","https://openalex.org/W2914981446","https://openalex.org/W3104755274","https://openalex.org/W6731208062"],"related_works":["https://openalex.org/W2108723098","https://openalex.org/W2004285645","https://openalex.org/W2543019745","https://openalex.org/W3180160681","https://openalex.org/W1567230752","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W1600238263","https://openalex.org/W2540452882","https://openalex.org/W2356070666"],"abstract_inverted_index":{"Humanoid":[0],"robots":[1,21,177],"are":[2],"expected":[3],"to":[4,24,35,51,69,78,126,136],"conduct":[5],"tasks":[6],"on":[7,26,44,102],"behalf":[8],"of":[9,133,153],"humans":[10],"in":[11,76],"places":[12],"such":[13],"as":[14],"a":[15,37,85,96,183],"disaster":[16],"scattered":[17],"environment.":[18],"Although":[19],"humanoid":[20],"have":[22],"potentials":[23],"walk":[25],"uneven":[27],"ground":[28],"unlike":[29],"wheeled":[30],"robots,":[31],"it":[32],"is":[33,93,99,115,156],"difficult":[34],"reach":[36,52],"given":[38,143],"destination":[39,54],"without":[40],"falling":[41],"down":[42],"based":[43,101],"only":[45,103],"visual":[46,79,104,146],"information.":[47,105],"In":[48,106,124],"this":[49],"paper,":[50],"the":[53,58,70,81,109,113,120,128,131,134,137,140,145,154,159,167],"safely,":[55],"we":[56],"propose":[57,166],"autonomous":[59],"safe":[60,116,173],"locomotion":[61,174],"system":[62,168],"applying":[63],"vision":[64],"and":[65,162,178],"sole":[66],"reaction":[67,160],"force":[68,74,161],"footstep":[71],"planning.":[72],"Considering":[73],"information":[75],"addition":[77,125],"information,":[80],"robot":[82,110,129,186],"can":[83],"plan":[84],"path":[86,92,97],"avoiding":[87],"unstable":[88],"footholds.":[89],"The":[90],"planned":[91,100],"safer":[94],"than":[95],"which":[98],"our":[107],"system,":[108],"checks":[111],"if":[112],"foothold":[114,121,141,150,155],"or":[117],"not":[118],"by":[119,144],"ascertainment":[122],"motion.":[123],"that,":[127],"saves":[130],"results":[132,181],"motion":[135],"database":[138],"with":[139],"label":[142],"classifier.":[147],"To":[148],"judge":[149],"safety,":[151],"stiffness":[152],"estimated":[157],"from":[158],"stepping":[163],"amount.":[164],"We":[165],"considering":[169],"these":[170],"requirements":[171],"for":[172,175],"bipedal":[176,185],"show":[179],"experimental":[180],"using":[182],"real":[184],"CHIDORI.":[187]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
