{"id":"https://openalex.org/W3132538548","doi":"https://doi.org/10.1109/lra.2021.3061383","title":"Online Object Searching by a Humanoid Robot in an Unknown Environment","display_name":"Online Object Searching by a Humanoid Robot in an Unknown Environment","publication_year":2021,"publication_date":"2021-02-23","ids":{"openalex":"https://openalex.org/W3132538548","doi":"https://doi.org/10.1109/lra.2021.3061383","mag":"3132538548"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3061383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061383","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":["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/A5028774388","display_name":"Masato Tsuru","orcid":"https://orcid.org/0000-0002-1424-8643"},"institutions":[{"id":"https://openalex.org/I317356780","display_name":"Osaka City University","ror":"https://ror.org/02skfsw40","country_code":"JP","type":"education","lineage":["https://openalex.org/I317356780"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Masato Tsuru","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","Graduate School of Engineering Science, Osaka University, Toyonaka city, Osaka, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1424-8643","affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka city, Osaka, Japan","institution_ids":["https://openalex.org/I317356780","https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006252575","display_name":"Adrien Escande","orcid":"https://orcid.org/0000-0003-3844-7986"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Adrien Escande","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","[CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan]"],"raw_orcid":"https://orcid.org/0000-0003-3844-7986","affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"[CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan]","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068159381","display_name":"Arnaud Tanguy","orcid":"https://orcid.org/0000-0002-9670-2693"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Arnaud Tanguy","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","[CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"[CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan]","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043527634","display_name":"K\u00e9vin Chappellet","orcid":"https://orcid.org/0000-0001-8041-3160"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kevin Chappellet","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","[CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan]"],"raw_orcid":"https://orcid.org/0000-0001-8041-3160","affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"[CNRS-AIST JRL (Joint Robotics Laboratory), IRL and the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan]","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108126701","display_name":"Kensuke Harad","orcid":null},"institutions":[{"id":"https://openalex.org/I317356780","display_name":"Osaka City University","ror":"https://ror.org/02skfsw40","country_code":"JP","type":"education","lineage":["https://openalex.org/I317356780"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kensuke Harad","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka city, Osaka, Japan","National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7576-756X","affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka city, Osaka, Japan","institution_ids":["https://openalex.org/I317356780","https://openalex.org/I98285908"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5028774388"],"corresponding_institution_ids":["https://openalex.org/I317356780","https://openalex.org/I73613424","https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":1.3593,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.78296581,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"2862","last_page":"2869"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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":0.7612260580062866},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.747289776802063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7209798693656921},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7182044982910156},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6962972283363342},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6562315225601196},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6219190359115601},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6035380363464355},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.586292028427124},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4194496273994446},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.36214491724967957}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7612260580062866},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.747289776802063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7209798693656921},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7182044982910156},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6962972283363342},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6562315225601196},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6219190359115601},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6035380363464355},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.586292028427124},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4194496273994446},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36214491724967957},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3061383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061383","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1965598198","https://openalex.org/W1990548974","https://openalex.org/W2074042377","https://openalex.org/W2084959384","https://openalex.org/W2089437550","https://openalex.org/W2105758874","https://openalex.org/W2107667896","https://openalex.org/W2108507649","https://openalex.org/W2109142140","https://openalex.org/W2129652899","https://openalex.org/W2146895838","https://openalex.org/W2160821342","https://openalex.org/W2296360731","https://openalex.org/W2411094379","https://openalex.org/W2413963660","https://openalex.org/W2540579400","https://openalex.org/W2540940194","https://openalex.org/W2560609797","https://openalex.org/W2570343428","https://openalex.org/W2570611506","https://openalex.org/W2604236302","https://openalex.org/W2624503621","https://openalex.org/W2770135404","https://openalex.org/W2774394625","https://openalex.org/W2783763601","https://openalex.org/W2808004181","https://openalex.org/W2883574738","https://openalex.org/W2939384298","https://openalex.org/W2963037989","https://openalex.org/W2963121255","https://openalex.org/W2963188159","https://openalex.org/W2963756608","https://openalex.org/W2965685044","https://openalex.org/W2967793392","https://openalex.org/W2981378444","https://openalex.org/W2988715931","https://openalex.org/W3003871040","https://openalex.org/W3012062338","https://openalex.org/W4235735721","https://openalex.org/W4254997146","https://openalex.org/W6681797888","https://openalex.org/W6683433371","https://openalex.org/W6714652476","https://openalex.org/W6715198402","https://openalex.org/W6731458579","https://openalex.org/W6761549494","https://openalex.org/W6766857745"],"related_works":["https://openalex.org/W2381242807","https://openalex.org/W2751208925","https://openalex.org/W2347541121","https://openalex.org/W4288804799","https://openalex.org/W3089617106","https://openalex.org/W3032237421","https://openalex.org/W2080951048","https://openalex.org/W2026275902","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"a":[3,14,58],"framework":[4,104],"for":[5,13,73],"an":[6,18,36,81,85,151,172],"autonomous":[7],"humanoid":[8,130],"robot,":[9],"aimed":[10],"at":[11],"searching":[12,181],"target":[15,50,93],"object":[16,41,63,83],"in":[17,84,110,174],"unknown":[19,86],"environment":[20,37],"using":[21,138],"3D-simultaneous":[22],"localization":[23],"and":[24,39,44,47,112,154,177,182],"mapping":[25],"(SLAM).":[26],"The":[27,95],"robot":[28,54,131,148],"determines,":[29],"while":[30,158],"walking,":[31],"the":[32,49,91,115,118,129,163],"next":[33],"viewpoint":[34,70,108],"from":[35],"map":[38],"aggregated":[40],"recognition":[42],"results,":[43],"automatically":[45],"finds":[46],"grasps":[48],"object.":[51],"Whereas":[52],"most":[53],"exploration":[55],"studies":[56],"require":[57],"static":[59],"map,":[60],"hints":[61],"regarding":[62],"position,":[64],"area":[65],"size":[66],"limitations,":[67],"or":[68],"offline":[69],"planning":[71],"time":[72],"each":[74],"observation,":[75],"our":[76,147],"system":[77],"can":[78,149],"globally":[79],"find":[80],"occluded":[82],"environment,":[87],"based":[88,142],"only":[89],"on":[90,143],"3D":[92],"model.":[94],"biggest":[96],"novelty":[97],"of":[98,165],"this":[99,103,166],"research":[100],"is":[101],"that":[102,125],"always":[105],"runs":[106],"its":[107,133],"planner":[109],"background":[111],"immediately":[113],"updates":[114],"destination":[116],"if":[117],"camera":[119],"gets":[120],"environment/object":[121],"information.":[122],"To":[123],"follow":[124],"goal":[126],"change":[127],"quickly,":[128],"re-plans":[132],"footstep":[134],"trajectory":[135],"without":[136],"stopping,":[137],"foot":[139],"landing":[140],"estimation":[141],"3D-SLAM's":[144],"localization.":[145],"Notably,":[146],"predict":[150],"unobserved":[152],"area,":[153],"actively":[155],"reveal":[156],"it":[157],"avoiding":[159],"obstacles.":[160],"We":[161],"validated":[162],"efficacy":[164],"method":[167],"through":[168],"real":[169],"experiments":[170],"with":[171],"\u201cHRP2-KAI\u201d":[173],"several":[175],"environments,":[176],"achieved":[178],"fully":[179],"automated":[180],"grasping.":[183]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
