{"id":"https://openalex.org/W2345626358","doi":"https://doi.org/10.1109/tro.2018.2819658","title":"An Efficient Acyclic Contact Planner for Multiped Robots","display_name":"An Efficient Acyclic Contact Planner for Multiped Robots","publication_year":2018,"publication_date":"2018-04-19","ids":{"openalex":"https://openalex.org/W2345626358","doi":"https://doi.org/10.1109/tro.2018.2819658","mag":"2345626358"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2819658","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2819658","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01267345","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043622443","display_name":"Steve Tonneau","orcid":"https://orcid.org/0000-0003-3001-8693"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Steve Tonneau","raw_affiliation_strings":["Laboratoire d\u2019Analyse et d\u2019Architecture des Syst\u00e8mes, CNRS, Universit\u00e9 de Toulouse, Toulouse, France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"Laboratoire d\u2019Analyse et d\u2019Architecture des Syst\u00e8mes, CNRS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I17866349","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038165484","display_name":"Andrea Del Prete","orcid":"https://orcid.org/0000-0003-1275-2851"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrea Del Prete","raw_affiliation_strings":["Laboratoire d\u2019Analyse et d\u2019Architecture des Syst\u00e8mes, CNRS, Universit\u00e9 de Toulouse, Toulouse, France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"Laboratoire d\u2019Analyse et d\u2019Architecture des Syst\u00e8mes, CNRS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I17866349","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035791250","display_name":"Julien Pettr\u00e9","orcid":"https://orcid.org/0000-0003-1812-1436"},"institutions":[{"id":"https://openalex.org/I4210133778","display_name":"Centre Inria de l'Universit\u00e9 de Rennes","ror":"https://ror.org/04040yw90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210133778"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Julien Pettre","raw_affiliation_strings":["Inria, Rennes, France","RAINBOW - Sensor-based and interactive robotics (Campus de Beaulieu\r\n35042 Rennes cedex - France)"],"affiliations":[{"raw_affiliation_string":"Inria, Rennes, France","institution_ids":["https://openalex.org/I4210133778"]},{"raw_affiliation_string":"RAINBOW - Sensor-based and interactive robotics (Campus de Beaulieu\r\n35042 Rennes cedex - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047669959","display_name":"Chonhyon Park","orcid":"https://orcid.org/0000-0002-6161-3498"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chonhyon Park","raw_affiliation_strings":["University of North Carolina at Chapel Hill, Chapel Hill, USA","UNC - University of North Carolina [Chapel Hill] (250 East Franklin Street, Chapel Hill, NC, - United States)"],"affiliations":[{"raw_affiliation_string":"University of North Carolina at Chapel Hill, Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"UNC - University of North Carolina [Chapel Hill] (250 East Franklin Street, Chapel Hill, NC, - United States)","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["University of North Carolina at Chapel Hill, Chapel Hill, USA","UNC - University of North Carolina [Chapel Hill] (250 East Franklin Street, Chapel Hill, NC, - United States)"],"affiliations":[{"raw_affiliation_string":"University of North Carolina at Chapel Hill, Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"UNC - University of North Carolina [Chapel Hill] (250 East Franklin Street, Chapel Hill, NC, - United States)","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046876471","display_name":"Nicolas Mansard","orcid":"https://orcid.org/0000-0002-8090-0601"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Mansard","raw_affiliation_strings":["Laboratoire d\u2019Analyse et d\u2019Architecture des Syst\u00e8mes, CNRS, Universit\u00e9 de Toulouse, Toulouse, France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"Laboratoire d\u2019Analyse et d\u2019Architecture des Syst\u00e8mes, CNRS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I17866349","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5043622443"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":8.6155,"has_fulltext":false,"cited_by_count":144,"citation_normalized_percentile":{"value":0.9828642,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"34","issue":"3","first_page":"586","last_page":"601"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994999766349792,"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":0.9976999759674072,"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/robot","display_name":"Robot","score":0.738038957118988},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.6301305294036865},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6240635514259338},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.532590389251709},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5201597213745117},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5173146724700928},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.43220168352127075},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4168066382408142},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4162997305393219},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4115930497646332},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36796778440475464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3420708477497101},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.32626157999038696},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3206480145454407},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23105087876319885},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11972597241401672}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.738038957118988},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6301305294036865},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6240635514259338},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.532590389251709},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5201597213745117},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5173146724700928},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.43220168352127075},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4168066382408142},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4162997305393219},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4115930497646332},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36796778440475464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3420708477497101},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.32626157999038696},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3206480145454407},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23105087876319885},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11972597241401672},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2018.2819658","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2819658","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01267345v3","is_oa":true,"landing_page_url":"https://hal.science/hal-01267345","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2018, 34 (3), pp.586-601. ⟨10.1109/TRO.2018.2819658⟩","raw_type":"Journal articles"},{"id":"pmh:oai:iris.unitn.it:11572/226126","is_oa":true,"landing_page_url":"http://hdl.handle.net/11572/226126","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01267345v3","is_oa":true,"landing_page_url":"https://hal.science/hal-01267345","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2018, 34 (3), pp.586-601. ⟨10.1109/TRO.2018.2819658⟩","raw_type":"Journal articles"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6200000047683716,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4796041578","display_name":null,"funder_award_id":"W911NF-14-1-0437","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W14178847","https://openalex.org/W1431688706","https://openalex.org/W1508300292","https://openalex.org/W1517802146","https://openalex.org/W1526262508","https://openalex.org/W1552665521","https://openalex.org/W1588834047","https://openalex.org/W1763528081","https://openalex.org/W1968125515","https://openalex.org/W1975463331","https://openalex.org/W1985640101","https://openalex.org/W2000359213","https://openalex.org/W2004139909","https://openalex.org/W2015149365","https://openalex.org/W2020065037","https://openalex.org/W2036136762","https://openalex.org/W2042408133","https://openalex.org/W2044995998","https://openalex.org/W2049410986","https://openalex.org/W2061983716","https://openalex.org/W2091829036","https://openalex.org/W2101340954","https://openalex.org/W2108234997","https://openalex.org/W2112808334","https://openalex.org/W2119881003","https://openalex.org/W2138419444","https://openalex.org/W2148832281","https://openalex.org/W2153628631","https://openalex.org/W2158070864","https://openalex.org/W2205975260","https://openalex.org/W2235901111","https://openalex.org/W2272266920","https://openalex.org/W2275744966","https://openalex.org/W2283655042","https://openalex.org/W2294982174","https://openalex.org/W2296319761","https://openalex.org/W2336236730","https://openalex.org/W2415458238","https://openalex.org/W2514689415","https://openalex.org/W2528150076","https://openalex.org/W2539534359","https://openalex.org/W2563784145","https://openalex.org/W2586084787","https://openalex.org/W2587742116","https://openalex.org/W2620625173","https://openalex.org/W2796766656","https://openalex.org/W3102212813","https://openalex.org/W4231947169","https://openalex.org/W4246876444","https://openalex.org/W6600581995","https://openalex.org/W6631120994","https://openalex.org/W6635191027"],"related_works":["https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2143461633","https://openalex.org/W2150194458","https://openalex.org/W4321471459","https://openalex.org/W2889071233","https://openalex.org/W2380814829","https://openalex.org/W2118356379"],"abstract_inverted_index":{"We":[0,70],"present":[1],"a":[2,15,23,29,59,76,85,98,123,134,140,153,174,199],"contact":[3,66,90,110,175,181,209],"planner":[4,30,176,182],"for":[5,27,46,125,211],"complex":[6,208],"legged":[7],"locomotion":[8],"tasks:":[9],"standing":[10],"up,":[11],"climbing":[12],"stairs":[13],"using":[14,133,152],"handrail,":[16],"crossing":[17],"rubble,":[18],"and":[19,101,106,214,218],"getting":[20],"out":[21],"of":[22,61,88,94,143,173,195],"car.":[24],"The":[25,108,157],"need":[26],"such":[28,39],"was":[31],"shown":[32],"at":[33],"the":[34,68,79,89,126,130,160,169,193,229],"DARPA":[35],"Robotics":[36],"Challenge,":[37],"where":[38],"behaviors":[40],"could":[41],"not":[42],"be":[43,103,115],"demonstrated":[44],"(except":[45],"egress).":[47],"Current":[48],"planners":[49],"suffer":[50],"from":[51],"their":[52],"prohibitive":[53],"algorithmic":[54],"complexity":[55,162],"because":[56],"they":[57],"deploy":[58],"tree":[60],"robot":[62],"configurations":[63,145],"projected":[64],"in":[65,146,164,168,198,224],"with":[67,187,202],"environment.":[69],"tackle":[71],"this":[72,150],"issue":[73],"by":[74],"introducing":[75],"reduction":[77,158],"property:":[78],"reachability":[80],"condition.":[81],"This":[82],"condition":[83],"defines":[84],"geometric":[86],"approximation":[87],"manifold,":[91],"which":[92],"is":[93],"low":[95],"dimension,":[96],"presents":[97],"Cartesian":[99],"topology,":[100],"can":[102,113],"efficiently":[104],"sampled":[105],"explored.":[107],"hard":[109],"planning":[111],"problem":[112],"then":[114],"decomposed":[116],"into":[117],"two":[118,215],"subproblems:":[119],"first,":[120],"we":[121,138,190,206],"plan":[122],"path":[124],"root":[127],"without":[128],"considering":[129],"whole-body":[131,144],"configuration,":[132],"sampling-based":[135],"algorithm;":[136],"then,":[137],"generate":[139,207],"discrete":[141],"sequence":[142],"static":[147],"equilibrium":[148],"along":[149],"path,":[151],"deterministic":[154],"contact-selection":[155],"algorithm.":[156],"breaks":[159],"algorithm":[161],"encountered":[163],"previous":[165],"works,":[166],"resulting":[167],"first":[170],"interactive":[171],"implementation":[172],"(open":[177],"source).":[178],"While":[179],"no":[180],"has":[183],"yet":[184],"been":[185],"proposed":[186],"theoretical":[188],"completeness,":[189],"empirically":[191],"show":[192],"interest":[194],"our":[196],"framework:":[197],"few":[200],"seconds,":[201],"high":[203],"success":[204],"rates,":[205],"plans":[210,221],"various":[212],"scenarios":[213],"robots:":[216],"HRP-2":[217,231],"HyQ.":[219],"These":[220],"are":[222],"validated":[223],"dynamic":[225],"simulations":[226],"or":[227],"on":[228],"real":[230],"robot.":[232]},"counts_by_year":[{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":29},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}