{"id":"https://openalex.org/W3125163042","doi":"https://doi.org/10.1109/ssrr50563.2020.9292623","title":"DDP-based Parachute Landing Optimization for a Humanoid","display_name":"DDP-based Parachute Landing Optimization for a Humanoid","publication_year":2020,"publication_date":"2020-11-04","ids":{"openalex":"https://openalex.org/W3125163042","doi":"https://doi.org/10.1109/ssrr50563.2020.9292623","mag":"3125163042"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr50563.2020.9292623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292623","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5100765515","display_name":"Dongdong Liu","orcid":"https://orcid.org/0000-0002-6172-0832"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Dongdong Liu","raw_affiliation_strings":["NYU Tandon School of Engineering, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, Brooklyn, NY, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356226","display_name":"Yang Liu","orcid":"https://orcid.org/0009-0005-0227-7083"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["NYU Tandon School of Engineering, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, Brooklyn, NY, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039683470","display_name":"Yifan Xing","orcid":"https://orcid.org/0000-0002-6935-3491"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yifan Xing","raw_affiliation_strings":["NYU Tandon School of Engineering, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, Brooklyn, NY, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101956667","display_name":"Shramana Ghosh","orcid":"https://orcid.org/0000-0003-0876-8674"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shramana Ghosh","raw_affiliation_strings":["NYU Tandon School of Engineering, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, Brooklyn, NY, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025338837","display_name":"Vikram Kapila","orcid":"https://orcid.org/0000-0001-5994-256X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vikram Kapila","raw_affiliation_strings":["NYU Tandon School of Engineering, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, Brooklyn, NY, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100765515"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1717,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.48058895,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"122","last_page":"128"},"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9889000058174133,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9363999962806702,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8504207134246826},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6715095043182373},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6095527410507202},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5893886685371399},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4729066789150238},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4524962306022644},{"id":"https://openalex.org/keywords/hazard","display_name":"Hazard","score":0.43085813522338867},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.42805129289627075},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2738749086856842}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8504207134246826},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6715095043182373},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6095527410507202},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5893886685371399},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4729066789150238},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4524962306022644},{"id":"https://openalex.org/C49261128","wikidata":"https://www.wikidata.org/wiki/Q1132455","display_name":"Hazard","level":2,"score":0.43085813522338867},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.42805129289627075},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2738749086856842},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr50563.2020.9292623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292623","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.5400000214576721}],"awards":[{"id":"https://openalex.org/G1937637022","display_name":null,"funder_award_id":"DRL-1614085","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1481030933","https://openalex.org/W1991555840","https://openalex.org/W2014775806","https://openalex.org/W2015149365","https://openalex.org/W2028059927","https://openalex.org/W2030263633","https://openalex.org/W2036892060","https://openalex.org/W2063198528","https://openalex.org/W2087617385","https://openalex.org/W2098432798","https://openalex.org/W2101340954","https://openalex.org/W2104733512","https://openalex.org/W2139966936","https://openalex.org/W2151378713","https://openalex.org/W2202353689","https://openalex.org/W2218389626","https://openalex.org/W2325880615","https://openalex.org/W2328100157","https://openalex.org/W2539534359","https://openalex.org/W2540665398","https://openalex.org/W2545906379","https://openalex.org/W2736865498","https://openalex.org/W2752358283","https://openalex.org/W2789320058","https://openalex.org/W2791934291","https://openalex.org/W3006422628","https://openalex.org/W3081791272","https://openalex.org/W3104883169","https://openalex.org/W4246876444","https://openalex.org/W6675999342","https://openalex.org/W6688790535","https://openalex.org/W6728995022"],"related_works":["https://openalex.org/W2026275902","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2117893626","https://openalex.org/W2891960103","https://openalex.org/W2920942130","https://openalex.org/W2807943943","https://openalex.org/W1518615326","https://openalex.org/W2160229054","https://openalex.org/W3085982270"],"abstract_inverted_index":{"For":[0,78],"many":[1],"hazard":[2],"prone":[3],"activities,":[4],"such":[5,65,119,140,222],"as":[6,45],"search,":[7,96],"rescue,":[8,97],"and":[9,39,44,55,98,125,147,163,171,190,273,306,315],"exploration,":[10],"the":[11,23,32,48,181,192,195,257,271,276,280,290,293,297,325],"risk":[12],"borne":[13],"by":[14,213],"human":[15],"respondents":[16],"can":[17,168],"be":[18,68,88,226],"reduced":[19],"or":[20],"obviated":[21],"with":[22,54,122,251,268,299,329],"use":[24,49],"of":[25,34,50,75,90,139,149,183,194,198,218,270,275,296,335],"biped":[26,200,249],"robots":[27,35,66],"in":[28,36,72,95,115,238,324],"their":[29],"stead.":[30],"As":[31],"adoption":[33],"manufacturing,":[37],"warehouses,":[38],"healthcare":[40],"continues":[41],"to":[42,59,67,70,93,107,110,153,161,229,289],"accelerate,":[43],"researchers":[46,203],"examine":[47,189],"humanoids":[51,84,109,131],"for":[52,313],"collaborating":[53],"even":[56],"providing":[57],"companionship":[58],"humans,":[60],"soon,":[61],"humans":[62],"would":[63],"want":[64],"able":[69],"engage":[71],"all":[73],"manner":[74],"human-like":[76],"activities.":[77],"example,":[79],"it":[80],"is":[81,266,327],"envisioned":[82],"that":[83,167],"will,":[85],"one":[86,104,216],"day,":[87],"capable":[89],"parachute":[91,175,207,243],"landings":[92],"aid":[94],"exploration":[99],"applications,":[100],"among":[101],"others.":[102],"Specifically,":[103],"may":[105,128],"seek":[106,160],"deploy":[108],"save":[111],"lives":[112],"from":[113,132],"disasters":[114],"remote":[116],"areas.":[117],"Addressing":[118],"a":[120,123,141,165,174,199,206,219,223,230,247,252,303,307,332],"problem":[121],"rapid":[124],"effective":[126,137],"response":[127],"necessitate":[129],"dropping":[130],"an":[133],"aerial":[134],"vehicle.":[135],"However,":[136,221],"realization":[138],"strategy":[142],"requires":[143],"design,":[144],"development,":[145],"testing,":[146],"validation":[148],"novel":[150],"robotic":[151],"solutions":[152],"overcome":[154],"significant":[155],"technical":[156],"challenges.":[157],"Thus,":[158],"we":[159,188],"design":[162],"test":[164],"humanoid":[166,232,298,338],"land":[169],"safely":[170],"stably":[172],"using":[173],"when":[176],"dropped":[177],"aerially.":[178],"To":[179],"prevent":[180],"failure":[182],"key":[184],"components":[185],"during":[186,279],"landing,":[187],"analyze":[191],"optimization":[193,284],"landing":[196,208,244,281,321],"trajectory":[197,239,322],"robot.":[201],"Previously,":[202],"have":[204],"designed":[205],"fall":[209],"(PLF)":[210],"motion":[211],"heuristically":[212],"considering":[214,234],"only":[215],"side":[217],"humanoid.":[220],"model":[224,295],"cannot":[225],"reliably":[227],"applied":[228],"full":[231,248],"without":[233],"actual":[235],"contact":[236,254,300,305],"environment":[237],"optimization.":[240,317],"We":[241],"consider":[242],"based":[245],"on":[246,331],"robot":[250],"rigid":[253,304],"model,":[255],"utilizing":[256],"differential":[258],"dynamic":[259,294],"programming":[260],"(DDP)":[261],"method.":[262],"A":[263],"cost":[264],"function":[265],"constructed":[267],"consideration":[269,288],"acceleration":[272],"momentum":[274],"bipedal":[277],"torso":[278],"process.":[282],"The":[283,318],"process":[285],"gives":[286],"due":[287],"constraints,":[291],"namely,":[292],"conditions,":[301],"wherein":[302],"Coulomb":[308],"friction":[309],"cone":[310],"are":[311],"included":[312],"simulation":[314,326],"further":[316],"optimized":[319],"active":[320],"obtained":[323],"verified":[328],"experiments":[330],"12":[333],"degrees":[334],"freedom":[336],"(DOF)":[337],"testbed.":[339]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}