{"id":"https://openalex.org/W2125356896","doi":"https://doi.org/10.1109/robot.2005.1570188","title":"Footstep Planning for the Honda ASIMO Humanoid","display_name":"Footstep Planning for the Honda ASIMO Humanoid","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2125356896","doi":"https://doi.org/10.1109/robot.2005.1570188","mag":"2125356896"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570188","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5059459603","display_name":"Joel Chestnutt","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Chestnutt","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","The Robotics Institute Carnegie Mellon University 5000 Forbes Ave., Pittsburgh, PA, 15213, USA; chestnutt@cs.cmu.edu"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute Carnegie Mellon University 5000 Forbes Ave., Pittsburgh, PA, 15213, USA; chestnutt@cs.cmu.edu","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085430824","display_name":"Meng Cheng Lau","orcid":"https://orcid.org/0000-0003-3517-4900"},"institutions":[{"id":"https://openalex.org/I202522242","display_name":"Chestnut Hill College","ror":"https://ror.org/05bjd0w70","country_code":"US","type":"education","lineage":["https://openalex.org/I202522242"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Lau","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","chestnutt@cs.cmu.edu"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"chestnutt@cs.cmu.edu","institution_ids":["https://openalex.org/I202522242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034682180","display_name":"German Cheung","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G. Cheung","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021782513","display_name":"James Kuffner","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Kuffner","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011498939","display_name":"Jessica K. Hodgins","orcid":"https://orcid.org/0000-0002-1778-883X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Hodgins","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057924291","display_name":"Takeo Kanade","orcid":"https://orcid.org/0000-0002-6267-6853"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T. Kanade","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":384,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"629","last_page":"634"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9876999855041504,"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/humanoid-robot","display_name":"Humanoid robot","score":0.861454963684082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6111449003219604},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6101504564285278},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.602832019329071},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5918211340904236},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5263223052024841},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5160977244377136},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5063499212265015},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4642404317855835},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.42633605003356934},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4245263934135437},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37292593717575073},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3634829521179199},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3222753703594208},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.06116902828216553}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.861454963684082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6111449003219604},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6101504564285278},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.602832019329071},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5918211340904236},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5263223052024841},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5160977244377136},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5063499212265015},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4642404317855835},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.42633605003356934},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4245263934135437},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37292593717575073},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3634829521179199},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3222753703594208},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.06116902828216553},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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":3,"locations":[{"id":"doi:10.1109/robot.2005.1570188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570188","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.72.2220","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.72.2220","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub4/chestnutt_joel_2005_1/chestnutt_joel_2005_1.pdf","raw_type":"text"},{"id":"pmh:oai:eprints.lancs.ac.uk:50779","is_oa":false,"landing_page_url":"https://eprints.lancs.ac.uk/id/eprint/50779/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401916","display_name":"Lancaster EPrints (Lancaster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67415387","host_organization_name":"Lancaster University","host_organization_lineage":["https://openalex.org/I67415387"],"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":"Contribution in Book/Report/Proceedings"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320310207","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W115856353","https://openalex.org/W124445416","https://openalex.org/W1491952821","https://openalex.org/W1545656448","https://openalex.org/W1587837820","https://openalex.org/W1606590749","https://openalex.org/W1659605498","https://openalex.org/W1874049655","https://openalex.org/W1917860510","https://openalex.org/W1947401476","https://openalex.org/W1962169445","https://openalex.org/W2012752411","https://openalex.org/W2029758915","https://openalex.org/W2039630509","https://openalex.org/W2048820947","https://openalex.org/W2059435624","https://openalex.org/W2096127980","https://openalex.org/W2097167023","https://openalex.org/W2098030884","https://openalex.org/W2099144379","https://openalex.org/W2112070512","https://openalex.org/W2112808334","https://openalex.org/W2115091574","https://openalex.org/W2116619049","https://openalex.org/W2120526103","https://openalex.org/W2127895608","https://openalex.org/W2129209579","https://openalex.org/W2138671676","https://openalex.org/W2142992961","https://openalex.org/W2146494230","https://openalex.org/W2156423353","https://openalex.org/W2249800031","https://openalex.org/W2341171179","https://openalex.org/W2545693528","https://openalex.org/W4236251699","https://openalex.org/W4238286944","https://openalex.org/W4242811155","https://openalex.org/W4252510982","https://openalex.org/W6604996890","https://openalex.org/W6629431045","https://openalex.org/W6635070958","https://openalex.org/W6674456411","https://openalex.org/W6676972451","https://openalex.org/W6678790860"],"related_works":["https://openalex.org/W2026275902","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2150982344","https://openalex.org/W4292862729"],"abstract_inverted_index":{"Despite":[0],"the":[1,21,50,80,84,116],"recent":[2],"achievements":[3],"in":[4],"stable":[5],"dynamic":[6,123],"walking":[7,33],"for":[8,42,49],"many":[9],"humanoid":[10,53],"robots,":[11],"relatively":[12],"little":[13],"navigation":[14,40],"autonomy":[15,41],"has":[16],"been":[17],"achieved.":[18],"In":[19],"particular,":[20],"ability":[22],"to":[23,29,62,98,106],"autonomously":[24],"select":[25],"foot":[26,74],"placement":[27,75],"positions":[28,61,76],"avoid":[30],"obstacles":[31,128],"while":[32,68],"is":[34],"an":[35,95],"important":[36],"step":[37],"towards":[38],"improved":[39],"humanoids.":[43],"We":[44,111],"present":[45,112],"a":[46,57,65,87,107],"footstep":[47,60,103],"planner":[48],"Honda":[51],"ASIMO":[52],"robot":[54,117],"that":[55,126],"plans":[56],"sequence":[58],"of":[59,83,90,102],"navigate":[63],"toward":[64],"goal":[66],"location":[67],"avoiding":[69],"obstacles.":[70],"The":[71],"possible":[72],"future":[73],"are":[77],"dependent":[78],"on":[79,130],"current":[81],"state":[82],"robot.":[85],"Using":[86],"finite":[88],"set":[89],"state-dependent":[91],"actions,":[92],"we":[93],"use":[94],"A*":[96],"search":[97],"compute":[99],"optimal":[100],"sequences":[101],"locations":[104],"up":[105],"time-limited":[108],"planning":[109],"horizon.":[110],"experimental":[113],"results":[114],"demonstrating":[115],"navigating":[118],"through":[119],"both":[120],"static":[121],"and":[122],"known":[124],"environments":[125],"include":[127],"moving":[129],"predictable":[131],"trajectories.":[132]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":28},{"year":2018,"cited_by_count":25},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":21},{"year":2015,"cited_by_count":20},{"year":2014,"cited_by_count":20},{"year":2013,"cited_by_count":31},{"year":2012,"cited_by_count":23}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
