{"id":"https://openalex.org/W1512719907","doi":"https://doi.org/10.1109/tepra.2015.7219685","title":"On-line and on-board planning and perception for quadrupedal locomotion","display_name":"On-line and on-board planning and perception for quadrupedal locomotion","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1512719907","doi":"https://doi.org/10.1109/tepra.2015.7219685","mag":"1512719907"},"language":"en","primary_location":{"id":"doi:10.1109/tepra.2015.7219685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2015.7219685","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1904.03693","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032652050","display_name":"Carlos Mastalli","orcid":"https://orcid.org/0000-0002-0725-4279"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Carlos Mastalli","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068877998","display_name":"Ioannis Havoutis","orcid":"https://orcid.org/0000-0002-4371-4623"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ioannis Havoutis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071181618","display_name":"Alexander Winkler","orcid":"https://orcid.org/0000-0003-1839-0855"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alexander W. Winkler","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010033061","display_name":"Claudio Semini","orcid":"https://orcid.org/0000-0002-3034-4686"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Semini","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5032652050"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.6846,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.88989771,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"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/T12290","display_name":"Human Motion and Animation","score":0.9944999814033508,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9934999942779541,"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/computer-science","display_name":"Computer science","score":0.7010061740875244},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.6959890127182007},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6727612018585205},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6091384291648865},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5468974113464355},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5323871374130249},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5006890296936035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.473225474357605},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.44024857878685},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38753822445869446},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2557181119918823}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7010061740875244},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.6959890127182007},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6727612018585205},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6091384291648865},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5468974113464355},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5323871374130249},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5006890296936035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.473225474357605},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.44024857878685},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38753822445869446},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2557181119918823},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tepra.2015.7219685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2015.7219685","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1904.03693","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.03693","pdf_url":"https://arxiv.org/pdf/1904.03693","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"},{"id":"pmh:oai:HAL:hal-01661837v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01661837","pdf_url":null,"source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference of Technologies for Practical Robot Applications (TEPRA), May 2015, Boston, United States","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1904.03693","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.03693","pdf_url":"https://arxiv.org/pdf/1904.03693","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":[{"id":"https://metadata.un.org/sdg/11","score":0.7400000095367432,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W276848478","https://openalex.org/W1592294156","https://openalex.org/W2041753526","https://openalex.org/W2042408133","https://openalex.org/W2061983716","https://openalex.org/W2077673559","https://openalex.org/W2093298840","https://openalex.org/W2095143145","https://openalex.org/W2101340954","https://openalex.org/W2104588723","https://openalex.org/W2111904757","https://openalex.org/W2137496616","https://openalex.org/W2142468282","https://openalex.org/W2144587497","https://openalex.org/W2154139861","https://openalex.org/W2161076907","https://openalex.org/W2172037318","https://openalex.org/W2295899596","https://openalex.org/W3099855898","https://openalex.org/W4229872932","https://openalex.org/W4230987057","https://openalex.org/W6674954739","https://openalex.org/W6683620479","https://openalex.org/W6697961568"],"related_works":["https://openalex.org/W4388251424","https://openalex.org/W2008498579","https://openalex.org/W2923272690","https://openalex.org/W2559825912","https://openalex.org/W2064963663","https://openalex.org/W1966935220","https://openalex.org/W2806616984","https://openalex.org/W4323670354","https://openalex.org/W3100731831","https://openalex.org/W4285089922"],"abstract_inverted_index":{"We":[0,13,24,82],"present":[1],"a":[2,26,31,40,65,79,98,116],"legged":[3],"motion":[4],"planning":[5,20,99,113],"approach":[6,100,114],"for":[7,38,56],"quadrupedal":[8],"locomotion":[9],"over":[10],"challenging":[11,119],"terrain.":[12],"decompose":[14],"the":[15,71,109],"problem":[16],"into":[17],"body":[18,35,41,80],"action":[19,42],"and":[21,75,125,130],"footstep":[22,72,76],"planning.":[23],"use":[25,83],"lattice":[27,45],"representation":[28,46],"together":[29],"with":[30],"set":[32,66,117],"of":[33,67,111,118],"defined":[34],"movement":[36],"primitives":[37],"computing":[39],"plan.":[43,59],"The":[44,122],"allows":[47],"us":[48],"to":[49],"plan":[50],"versatile":[51,104],"movements":[52],"that":[53,69,89,101],"ensure":[54],"feasibility":[55],"every":[57],"possible":[58],"To":[60],"this":[61],"end,":[62],"we":[63],"propose":[64],"rules":[68],"define":[70],"search":[73,88],"regions":[74],"sequence":[77],"given":[78],"action.":[81],"Anytime":[84],"Repairing":[85],"A*":[86],"(ARA*)":[87],"guarantees":[90],"bounded":[91],"suboptimal":[92],"plans.":[93],"Our":[94],"main":[95],"contribution":[96],"is":[97],"generates":[102],"on-line":[103,129],"movements.":[105],"Experimental":[106],"trials":[107],"demonstrate":[108],"performance":[110],"our":[112],"in":[115],"terrain":[120,123],"conditions.":[121],"information":[124],"plans":[126],"are":[127],"computed":[128],"on-board.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
