{"id":"https://openalex.org/W2108693505","doi":"https://doi.org/10.1109/robot.2005.1570258","title":"Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map","display_name":"Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2108693505","doi":"https://doi.org/10.1109/robot.2005.1570258","mag":"2108693505"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570258","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":"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/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"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":"F. Kanehiro","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","National Institute of Advanced Industrial Science and Technology(AIST) Tsukuba Central 2, 1-1-1 Umezono, Tukuba, Ibaraki, 305-8568 JAPAN f-kanehiro@aist.go.jp"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology(AIST) Tsukuba Central 2, 1-1-1 Umezono, Tukuba, Ibaraki, 305-8568 JAPAN f-kanehiro@aist.go.jp","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029936717","display_name":"Takashi Yoshimi","orcid":"https://orcid.org/0000-0002-7368-7646"},"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":"T. Yoshimi","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","National Institute of Advanced Industrial Science and Techno"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Techno","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102768470","display_name":"Shuuji Kajita","orcid":"https://orcid.org/0000-0001-8188-2209"},"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":"S. Kajita","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","National Institute of Advanced Industrial Science and Techno"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Techno","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"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":"M. Morisawa","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","National Institute of Advanced Industrial Science and Techno"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Techno","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111953627","display_name":"Kiyoshi Fujiwara","orcid":null},"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":"K. Fujiwara","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","National Institute of Advanced Industrial Science and Techno"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Techno","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016270703","display_name":"Kensuke Harada","orcid":"https://orcid.org/0000-0002-7576-756X"},"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":"K. Harada","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","National Institute of Advanced Industrial Science and Techno"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Techno","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043888149","display_name":"Kenji Kaneko","orcid":"https://orcid.org/0000-0002-1888-8787"},"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":"K. Kaneko","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","National Institute of Advanced Industrial Science and Techno"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Techno","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001711571","display_name":"Hirohisa Hirukawa","orcid":null},"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":"H. Hirukawa","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","National Institute of Advanced Industrial Science and Techno"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Techno","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015195139","display_name":"Fumiaki Tomita","orcid":"https://orcid.org/0000-0002-4377-6621"},"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":"F. Tomita","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","National Institute of Advanced Industrial Science and Techno"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Techno","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.1933,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.95587181,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1072","last_page":"1078"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9937000274658203,"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":0.9868000149726868,"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":0.7577618360519409},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6748105883598328},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.648356556892395},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6151955127716064},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5450799465179443},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4701264798641205},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43750640749931335},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.372191846370697},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36692750453948975},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11767485737800598}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7577618360519409},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6748105883598328},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.648356556892395},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6151955127716064},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5450799465179443},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4701264798641205},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43750640749931335},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.372191846370697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36692750453948975},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11767485737800598},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570258","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W134995692","https://openalex.org/W1507570408","https://openalex.org/W1599888605","https://openalex.org/W1656165940","https://openalex.org/W1746662645","https://openalex.org/W1782560845","https://openalex.org/W1867790672","https://openalex.org/W1891947214","https://openalex.org/W1980417234","https://openalex.org/W2088677124","https://openalex.org/W2100719788","https://openalex.org/W2106953757","https://openalex.org/W2118220092","https://openalex.org/W2129138086","https://openalex.org/W2129651248","https://openalex.org/W2133859362","https://openalex.org/W2145495492","https://openalex.org/W2152052314","https://openalex.org/W2153707232","https://openalex.org/W2158497256","https://openalex.org/W2159121504","https://openalex.org/W2166162370","https://openalex.org/W2167102529","https://openalex.org/W2676166876","https://openalex.org/W2983916874","https://openalex.org/W6630531309","https://openalex.org/W6637680315"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W3114279067","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2999143598"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,6,17,21,56],"method":[4],"for":[5],"humanoid":[7],"robot":[8],"to":[9,86],"generate":[10],"3D":[11,39],"model":[12,32],"of":[13,38,49,52,89],"the":[14,46,50,87,90],"environment":[15],"using":[16,24],"stereo":[18,59],"vision,":[19],"find":[20],"movable":[22,91],"space":[23],"it":[25],"and":[26,82],"plan":[27],"feasible":[28],"locomotion":[29,62],"online.":[30],"The":[31,61],"is":[33,63],"generated":[34],"by":[35,55,65],"an":[36,66,78],"accumulation":[37],"grid":[40],"maps":[41],"which":[42,72],"are":[43],"made":[44],"from":[45],"range":[47],"data":[48],"field":[51],"view":[53],"obtained":[54],"correlation":[57],"based":[58],"vision.":[60],"planned":[64],"online":[67],"whole":[68],"body":[69,80],"pattern":[70],"generator":[71],"can":[73],"modify":[74],"robot\u2019s":[75],"waist":[76],"height,":[77],"upper":[79],"posture":[81],"so":[83],"on":[84],"according":[85],"size":[88],"space.":[92]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}