{"id":"https://openalex.org/W4200489405","doi":"https://doi.org/10.1109/iros51168.2021.9636218","title":"Dynamic Humanoid Locomotion Over Rough Terrain With Streamlined Perception-Control Pipeline","display_name":"Dynamic Humanoid Locomotion Over Rough Terrain With Streamlined Perception-Control Pipeline","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200489405","doi":"https://doi.org/10.1109/iros51168.2021.9636218"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636218","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636218","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5005896564","display_name":"Moon Young Lee","orcid":"https://orcid.org/0000-0003-4956-9241"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Moonyoung Lee","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Humanoid Robot Research Center,Department of Mechanical Engineering,Daejeon,Korea","Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Humanoid Robot Research Center,Department of Mechanical Engineering,Daejeon,Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101483557","display_name":"Youngsun Kwon","orcid":"https://orcid.org/0000-0003-3615-0898"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Youngsun Kwon","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Scalable Graphics, Vision & Robotics Lab, School of Computing,Korea","Scalable Graphics, Vision & Robotics Lab, School of Computing, Korea Advanced Institute of Science and Technology, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Scalable Graphics, Vision & Robotics Lab, School of Computing,Korea","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Scalable Graphics, Vision & Robotics Lab, School of Computing, Korea Advanced Institute of Science and Technology, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086938236","display_name":"Sebin Lee","orcid":"https://orcid.org/0000-0002-7189-5636"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Sebin Lee","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Scalable Graphics, Vision & Robotics Lab, School of Computing,Korea","Scalable Graphics, Vision & Robotics Lab, School of Computing, Korea Advanced Institute of Science and Technology, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Scalable Graphics, Vision & Robotics Lab, School of Computing,Korea","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Scalable Graphics, Vision & Robotics Lab, School of Computing, Korea Advanced Institute of Science and Technology, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045419564","display_name":"JongHun Choe","orcid":"https://orcid.org/0000-0001-7127-1762"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"JongHun Choe","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Humanoid Robot Research Center,Department of Mechanical Engineering,Daejeon,Korea","Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Humanoid Robot Research Center,Department of Mechanical Engineering,Daejeon,Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100695871","display_name":"Junyong Park","orcid":"https://orcid.org/0000-0002-5446-1799"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Junyong Park","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Neuro-Machine Augmented Intelligence Laboratory, School of Computing,Korea","Neuro-Machine Augmented Intelligence Laboratory, School of Computing, Korea Advanced Institute of Science and Technology, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Neuro-Machine Augmented Intelligence Laboratory, School of Computing,Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Neuro-Machine Augmented Intelligence Laboratory, School of Computing, Korea Advanced Institute of Science and Technology, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034805831","display_name":"Hyobin Jeong","orcid":"https://orcid.org/0000-0002-7989-0231"},"institutions":[{"id":"https://openalex.org/I155671955","display_name":"Korea Atomic Energy Research Institute","ror":"https://ror.org/01xb4fs50","country_code":"KR","type":"facility","lineage":["https://openalex.org/I155671955","https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyobin Jeong","raw_affiliation_strings":["Korea Atomic Energy Research Institute (KAERI),Korea","Korea Atomic Energy Research Institute (KAERI), Korea"],"affiliations":[{"raw_affiliation_string":"Korea Atomic Energy Research Institute (KAERI),Korea","institution_ids":["https://openalex.org/I155671955"]},{"raw_affiliation_string":"Korea Atomic Energy Research Institute (KAERI), Korea","institution_ids":["https://openalex.org/I155671955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101401006","display_name":"Yujin Heo","orcid":"https://orcid.org/0000-0001-9577-6802"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yujin Heo","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Humanoid Robot Research Center,Department of Mechanical Engineering,Daejeon,Korea","Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Humanoid Robot Research Center,Department of Mechanical Engineering,Daejeon,Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100343641","display_name":"Min-Su Kim","orcid":"https://orcid.org/0000-0002-9186-9558"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Min-Su Kim","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Humanoid Robot Research Center,Department of Mechanical Engineering,Daejeon,Korea","Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Humanoid Robot Research Center,Department of Mechanical Engineering,Daejeon,Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107809522","display_name":"Jo Sungho","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jo Sungho","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Neuro-Machine Augmented Intelligence Laboratory, School of Computing,Korea","Neuro-Machine Augmented Intelligence Laboratory, School of Computing, Korea Advanced Institute of Science and Technology, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Neuro-Machine Augmented Intelligence Laboratory, School of Computing,Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Neuro-Machine Augmented Intelligence Laboratory, School of Computing, Korea Advanced Institute of Science and Technology, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078173428","display_name":"Sung\u2010Eui Yoon","orcid":"https://orcid.org/0000-0002-7123-1119"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Sung-Eui Yoon","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Scalable Graphics, Vision & Robotics Lab, School of Computing,Korea","Scalable Graphics, Vision & Robotics Lab, School of Computing, Korea Advanced Institute of Science and Technology, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Scalable Graphics, Vision & Robotics Lab, School of Computing,Korea","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Scalable Graphics, Vision & Robotics Lab, School of Computing, Korea Advanced Institute of Science and Technology, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055502318","display_name":"Jun-Ho Oh","orcid":"https://orcid.org/0000-0002-2609-6712"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun-Ho Oh","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology,Humanoid Robot Research Center,Department of Mechanical Engineering,Daejeon,Korea","Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology,Humanoid Robot Research Center,Department of Mechanical Engineering,Daejeon,Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5005896564"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.5375,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81829831,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4111","last_page":"4117"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9925000071525574,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9664000272750854,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.791985273361206},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7447109222412109},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6574681997299194},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6080432534217834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5821372866630554},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5717621445655823},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5593539476394653},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5563393235206604},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5332362651824951},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5088756084442139},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4881504476070404},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4737214148044586},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4428873360157013},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.43248844146728516},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.41448426246643066},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3450953960418701}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.791985273361206},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7447109222412109},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6574681997299194},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6080432534217834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5821372866630554},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5717621445655823},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5593539476394653},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5563393235206604},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5332362651824951},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5088756084442139},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4881504476070404},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4737214148044586},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4428873360157013},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.43248844146728516},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.41448426246643066},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3450953960418701},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/iros51168.2021.9636218","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636218","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337495","display_name":"Technology Development","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1592294156","https://openalex.org/W2125356896","https://openalex.org/W2133410371","https://openalex.org/W2133859362","https://openalex.org/W2159541442","https://openalex.org/W2204100769","https://openalex.org/W2409062585","https://openalex.org/W2788200022","https://openalex.org/W2966463142","https://openalex.org/W3002174616","https://openalex.org/W3003596479","https://openalex.org/W3003617311","https://openalex.org/W3004998111","https://openalex.org/W3012062338","https://openalex.org/W3037562402","https://openalex.org/W3090033167","https://openalex.org/W3129868681","https://openalex.org/W3130764402","https://openalex.org/W4246876444","https://openalex.org/W6772952540"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2374043190","https://openalex.org/W2363298784","https://openalex.org/W3082879976"],"abstract_inverted_index":{"Vision":[0],"aided":[1],"dynamic":[2,94],"exploration":[3],"on":[4,45],"bipedal":[5],"robots":[6],"poses":[7],"an":[8,61],"integrated":[9],"challenge":[10],"for":[11,71,123],"perception":[12,89,120],"and":[13,48,66,152],"control.":[14],"Rapid":[15],"walking":[16,69],"motions":[17],"as":[18,20,127],"well":[19],"the":[21,25,32,38,67,115,119,142],"vibrations":[22],"caused":[23],"by":[24],"landing-foot":[26],"contact-force":[27],"introduce":[28],"critical":[29],"uncertainty":[30,90],"in":[31,103,135,141],"visual-inertial":[33],"system,":[34],"which":[35],"can":[36],"cause":[37],"robot":[39,74],"to":[40,75,84,107,161],"misplace":[41],"its":[42],"feet":[43],"placing":[44],"complex":[46],"terrains":[47],"even":[49],"fall":[50],"over.":[51],"In":[52,113],"this":[53],"paper,":[54],"we":[55,96],"present":[56,97],"a":[57,72,98,129,138,158],"streamlined":[58],"integration":[59],"of":[60,118],"efficient":[62],"geometric":[63,99],"footstep":[64,105],"planner":[65,106],"corresponding":[68,131],"controller":[70],"humanoid":[73,160],"dynamically":[76],"walk":[77],"across":[78,163],"rough":[79],"terrain":[80,143],"at":[81],"speeds":[82],"up":[83],"0.3":[85],"m/s.":[86],"To":[87],"handle":[88],"that":[91],"arises":[92],"during":[93],"locomotion,":[95],"safety":[100],"scoring":[101],"method":[102],"our":[104],"optimally":[108],"select":[109],"feasible":[110],"path":[111],"candidates.":[112],"addition,":[114],"real-time":[116],"performance":[117],"pipeline":[121,149],"allows":[122],"reactive":[124],"locomotion":[125],"such":[126],"generating":[128],"new":[130],"swing":[132],"leg":[133],"trajectory":[134],"mid-gait":[136],"if":[137],"sudden":[139],"change":[140],"is":[144,150],"detected.":[145],"The":[146],"proposed":[147],"perception-control":[148],"evaluated":[151],"demonstrated":[153],"with":[154],"real":[155],"experiments":[156],"using":[157],"full-scale":[159],"traverse":[162],"various":[164],"terrains.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}