{"id":"https://openalex.org/W3033253270","doi":"https://doi.org/10.1109/lra.2020.3001503","title":"Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming","display_name":"Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming","publication_year":2020,"publication_date":"2020-06-10","ids":{"openalex":"https://openalex.org/W3033253270","doi":"https://doi.org/10.1109/lra.2020.3001503","mag":"3033253270"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3001503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3001503","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2006.02656","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yuki Shirai","orcid":"https://orcid.org/0000-0003-4729-4256"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"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"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yuki Shirai","raw_affiliation_strings":["Robotics and Mechanisms Laboratory, University of California, Los Angeles, USA"],"raw_orcid":"https://orcid.org/0000-0003-4729-4256","affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xuan Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuan Lin","raw_affiliation_strings":["Robotics and Mechanisms Laboratory, University of California, Los Angeles, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yusuke Tanaka","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yusuke Tanaka","raw_affiliation_strings":["Robotics and Mechanisms Laboratory, University of California, Los Angeles, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ankur Mehta","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I4210102840","display_name":"Ubiquitous Energy (United States)","ror":"https://ror.org/01b06j989","country_code":"US","type":"company","lineage":["https://openalex.org/I4210102840"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankur Mehta","raw_affiliation_strings":["Laboratory for Embedded Machines and Ubiquitous Robotics, University of California, Los Angeles, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Embedded Machines and Ubiquitous Robotics, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I4210102840","https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":null,"display_name":"Dennis Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["Robotics and Mechanisms Laboratory, University of California, Los Angeles, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161318765","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":1.5678,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.81590295,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"5","issue":"4","first_page":"4994","last_page":"5001"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.45809999108314514,"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":0.45809999108314514,"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":0.2768999934196472,"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":0.09229999780654907,"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/robot","display_name":"Robot","score":0.6837000250816345},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5942000150680542},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.574400007724762},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.46889999508857727},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.45500001311302185},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.4187000095844269},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41670000553131104},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4156000018119812},{"id":"https://openalex.org/keywords/stochastic-programming","display_name":"Stochastic programming","score":0.4000000059604645}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6837000250816345},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5942000150680542},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.574400007724762},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48339998722076416},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.46889999508857727},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.45500001311302185},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.446399986743927},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.4187000095844269},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41670000553131104},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4156000018119812},{"id":"https://openalex.org/C137631369","wikidata":"https://www.wikidata.org/wiki/Q7617831","display_name":"Stochastic programming","level":2,"score":0.4000000059604645},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39169999957084656},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3882000148296356},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.358599990606308},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3564999997615814},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.35040000081062317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3476000130176544},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.3402999937534332},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.33959999680519104},{"id":"https://openalex.org/C127491075","wikidata":"https://www.wikidata.org/wiki/Q7617825","display_name":"Stochastic modelling","level":2,"score":0.335099995136261},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.32019999623298645},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.31679999828338623},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3133000135421753},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.30790001153945923},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.28040000796318054},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.26499998569488525},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.25119999051094055}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.3001503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3001503","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2006.02656","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2006.02656","pdf_url":"https://arxiv.org/pdf/2006.02656","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2006.02656","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2006.02656","pdf_url":"https://arxiv.org/pdf/2006.02656","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1144593952","https://openalex.org/W1973546417","https://openalex.org/W2032539430","https://openalex.org/W2067778155","https://openalex.org/W2114924842","https://openalex.org/W2123871098","https://openalex.org/W2163974073","https://openalex.org/W2402652894","https://openalex.org/W2514689415","https://openalex.org/W2568901734","https://openalex.org/W2618245409","https://openalex.org/W2738173023","https://openalex.org/W2788030459","https://openalex.org/W2789286234","https://openalex.org/W2808377102","https://openalex.org/W2842089854","https://openalex.org/W2909229154","https://openalex.org/W2951875426","https://openalex.org/W3003335319","https://openalex.org/W6680368953","https://openalex.org/W6718675241","https://openalex.org/W6785702897"],"related_works":[],"abstract_inverted_index":{"We":[0,108],"present":[1],"a":[2,22,40,73,86],"motion":[3,112],"planning":[4,113],"algorithm":[5,114],"with":[6,12,21,64,77],"probabilistic":[7],"guarantees":[8],"for":[9,121],"limbed":[10],"robots":[11],"stochastic":[13,33],"gripping":[14,66,98],"forces.":[15,67],"Planners":[16],"based":[17,90,161],"on":[18,91,115,162],"deterministic":[19],"models":[20],"worst-case":[23],"uncertainty":[24],"can":[25],"be":[26],"conservative":[27],"and":[28,55],"inflexible":[29],"to":[30,50,84],"consider":[31],"the":[32,36,48,61,65,82,97,140,151,157],"behavior":[34],"of":[35,88,159],"contact,":[37],"especially":[38],"when":[39],"gripper":[41],"is":[42,70],"installed.":[43],"Our":[44,68,124],"proposed":[45,111,129],"planner":[46,69,130],"enables":[47],"robot":[49,83,120],"simultaneously":[51],"plan":[52],"its":[53],"pose":[54],"contact":[56],"force":[57],"trajectories":[58,133],"while":[59],"considering":[60],"risk":[62,93,142,153,160],"associated":[63],"formulated":[71],"as":[72,100],"nonlinear":[74],"programming":[75],"problem":[76],"chance":[78],"constraints,":[79],"which":[80],"allows":[81],"generate":[85],"variety":[87],"motions":[89],"different":[92],"bounds.":[94],"To":[95],"model":[96],"forces":[99],"random":[101],"variables,":[102],"we":[103],"employ":[104],"Gaussian":[105],"Process":[106],"regression.":[107],"validate":[109],"our":[110,128],"an":[116,145],"11.5":[117],"kg":[118],"six-limbed":[119],"two-wall":[122],"climbing.":[123],"results":[125],"show":[126],"that":[127],"generates":[131],"various":[132,163],"(e.g.,":[134],"avoiding":[135],"low":[136,141],"friction":[137],"terrain":[138],"under":[139,150],"bound,":[143],"choosing":[144],"unstable":[146],"but":[147],"faster":[148],"gait":[149],"high":[152],"bound)":[154],"by":[155],"changing":[156],"probability":[158],"specifications.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2020-06-12T00:00:00"}
