{"id":"https://openalex.org/W2167646864","doi":"https://doi.org/10.1109/tsmcc.2010.2063700","title":"Evolutionary Multiobjective Footstep Planning for Humanoid Robots","display_name":"Evolutionary Multiobjective Footstep Planning for Humanoid Robots","publication_year":2010,"publication_date":"2010-09-07","ids":{"openalex":"https://openalex.org/W2167646864","doi":"https://doi.org/10.1109/tsmcc.2010.2063700","mag":"2167646864"},"language":"en","primary_location":{"id":"doi:10.1109/tsmcc.2010.2063700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmcc.2010.2063700","pdf_url":null,"source":{"id":"https://openalex.org/S4210227557","display_name":"IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)","issn_l":"1094-6977","issn":["1094-6977","1558-2442"],"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 Systems, Man, and Cybernetics, Part C (Applications and Reviews)","raw_type":"journal-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/A5028287013","display_name":"Young-Dae Hong","orcid":"https://orcid.org/0000-0002-6174-6442"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young-Dae Hong","raw_affiliation_strings":["Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049351020","display_name":"Ye-Hoon Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ye-Hoon Kim","raw_affiliation_strings":["Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062826616","display_name":"Ji-Hyeong Han","orcid":"https://orcid.org/0000-0001-8391-6898"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ji-Hyeong Han","raw_affiliation_strings":["Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102092538","display_name":"Jeong-Ki Yoo","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeong-Ki Yoo","raw_affiliation_strings":["Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100718523","display_name":"Jong-Hwan Kim","orcid":"https://orcid.org/0000-0002-4172-4174"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong-Hwan Kim","raw_affiliation_strings":["Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.3045,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.81291025,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"41","issue":"4","first_page":"520","last_page":"532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.994700014591217,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.8432611227035522},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6016936302185059},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.5937859416007996},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5794949531555176},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5557719469070435},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.5498514175415039},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5302319526672363},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4605265259742737},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4542437791824341},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4464190602302551},{"id":"https://openalex.org/keywords/multi-objective-optimization","display_name":"Multi-objective optimization","score":0.4456928074359894},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.4244641661643982},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.4147437512874603},{"id":"https://openalex.org/keywords/preference","display_name":"Preference","score":0.41051071882247925},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21722444891929626},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1503729224205017}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8432611227035522},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6016936302185059},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.5937859416007996},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5794949531555176},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5557719469070435},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.5498514175415039},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5302319526672363},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4605265259742737},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4542437791824341},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4464190602302551},{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.4456928074359894},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.4244641661643982},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.4147437512874603},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.41051071882247925},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21722444891929626},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1503729224205017},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmcc.2010.2063700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmcc.2010.2063700","pdf_url":null,"source":{"id":"https://openalex.org/S4210227557","display_name":"IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)","issn_l":"1094-6977","issn":["1094-6977","1558-2442"],"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 Systems, Man, and Cybernetics, Part C (Applications and Reviews)","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1504943474","https://openalex.org/W1569560470","https://openalex.org/W1606590749","https://openalex.org/W1659257270","https://openalex.org/W1913802882","https://openalex.org/W1971488210","https://openalex.org/W1971503800","https://openalex.org/W1977406084","https://openalex.org/W1985378781","https://openalex.org/W1996874990","https://openalex.org/W2013498575","https://openalex.org/W2014824949","https://openalex.org/W2033553286","https://openalex.org/W2034960640","https://openalex.org/W2057650923","https://openalex.org/W2060907774","https://openalex.org/W2069830673","https://openalex.org/W2074221438","https://openalex.org/W2103120971","https://openalex.org/W2104940705","https://openalex.org/W2108211197","https://openalex.org/W2113811632","https://openalex.org/W2116407955","https://openalex.org/W2117444972","https://openalex.org/W2122274805","https://openalex.org/W2125356896","https://openalex.org/W2126105956","https://openalex.org/W2126222857","https://openalex.org/W2136680909","https://openalex.org/W2138671676","https://openalex.org/W2142132924","https://openalex.org/W2153828012","https://openalex.org/W2155019998","https://openalex.org/W2160018910","https://openalex.org/W2160645305","https://openalex.org/W2163096432","https://openalex.org/W2165066103","https://openalex.org/W2168548781","https://openalex.org/W2177274602","https://openalex.org/W2346443999","https://openalex.org/W2542370644","https://openalex.org/W2768606431","https://openalex.org/W2998023265","https://openalex.org/W3043771091","https://openalex.org/W6634012369","https://openalex.org/W6640195238","https://openalex.org/W6684008193","https://openalex.org/W6684370996"],"related_works":["https://openalex.org/W2107501891","https://openalex.org/W2097167023","https://openalex.org/W2562171754","https://openalex.org/W2075065376","https://openalex.org/W2766649325","https://openalex.org/W2124561134","https://openalex.org/W1984170749","https://openalex.org/W2907432044","https://openalex.org/W2756285265","https://openalex.org/W2156799931"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,13,17,26,37,68,86,92,129,133],"novel":[4],"evolutionary":[5,70,119],"multiobjective":[6,69,120],"footstep":[7,14,62,121],"planner":[8,15,122],"for":[9,52,128],"humanoid":[10,58,135],"robots.":[11],"First,":[12],"using":[16],"univector":[18,78],"field":[19],"navigation":[20],"method":[21],"is":[22,31,73,98,123],"proposed":[23,99,118],"to":[24,32,63,75,100],"provide":[25],"command":[27],"state":[28],"(CS),":[29],"which":[30],"be":[33],"an":[34],"input":[35],"of":[36,56,106,116,132],"modifiable":[38],"walking":[39],"pattern":[40],"generator":[41],"(MWPG)":[42],"at":[43,60],"each":[44,61],"footstep.":[45],"Then,":[46],"the":[47,57,65,77,102,112,117],"MWPG":[48],"generates":[49],"corresponding":[50],"trajectories":[51],"every":[53],"leg":[54],"joint":[55],"robot":[59],"follow":[64],"CS.":[66],"Second,":[67],"algorithm":[71,89],"(MOEA)":[72],"employed":[74],"optimize":[76],"fields":[79],"satisfying":[80],"multiple":[81],"objectives":[82],"in":[83],"navigation.":[84],"Finally,":[85],"preference-based":[87],"selection":[88],"based":[90],"on":[91],"fuzzy":[93,96],"measure":[94],"and":[95],"integral":[97],"select":[101],"preferred":[103],"one":[104],"out":[105],"various":[107],"nondominated":[108],"solutions":[109],"obtained":[110],"by":[111],"MOEA.":[113],"The":[114],"effectiveness":[115],"demonstrated":[124],"through":[125],"computer":[126],"simulations":[127],"simulation":[130],"model":[131],"small-sized":[134],"robot,":[136],"HanSaRam-VIII.":[137]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":5}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}