{"id":"https://openalex.org/W2020246380","doi":"https://doi.org/10.1142/s0219843607000960","title":"HUMAN-LIKE APPROACH TO FOOTSTEP PLANNING AMONG OBSTACLES FOR HUMANOID ROBOTS","display_name":"HUMAN-LIKE APPROACH TO FOOTSTEP PLANNING AMONG OBSTACLES FOR HUMANOID ROBOTS","publication_year":2007,"publication_date":"2007-03-01","ids":{"openalex":"https://openalex.org/W2020246380","doi":"https://doi.org/10.1142/s0219843607000960","mag":"2020246380"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843607000960","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843607000960","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","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/A5101979667","display_name":"Yasar Ayaz","orcid":"https://orcid.org/0000-0002-2425-9063"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]},{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["JP","PK"],"is_corresponding":false,"raw_author_name":"YASAR AYAZ","raw_affiliation_strings":["Department of Aerospace Engineering, Tohoku University, Aoba-yama 6-6-01, Sendai 980-8579, Japan","Department of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology (NUST), Peshawar Road, Rawalpindi, 46000, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Tohoku University, Aoba-yama 6-6-01, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology (NUST), Peshawar Road, Rawalpindi, 46000, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020893146","display_name":"Khalid Munawar","orcid":"https://orcid.org/0000-0003-1557-2629"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"KHALID MUNAWAR","raw_affiliation_strings":["Department of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology (NUST), Peshawar Road, Rawalpindi, 46000, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology (NUST), Peshawar Road, Rawalpindi, 46000, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001158835","display_name":"Mohammad Bilal Malik","orcid":"https://orcid.org/0000-0003-2850-7412"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"MOHAMMAD BILAL MALIK","raw_affiliation_strings":["Department of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology (NUST), Peshawar Road, Rawalpindi, 46000, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology (NUST), Peshawar Road, Rawalpindi, 46000, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063403718","display_name":"Atsushi Konno","orcid":"https://orcid.org/0000-0003-3288-8844"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"ATSUSHI KONNO","raw_affiliation_strings":["Department of Aerospace Engineering, Tohoku University, Aoba-yama 6-6-01, Sendai 980-8579, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Tohoku University, Aoba-yama 6-6-01, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"MASARU UCHIYAMA","raw_affiliation_strings":["Department of Aerospace Engineering, Tohoku University, Aoba-yama 6-6-01, Sendai 980-8579, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Tohoku University, Aoba-yama 6-6-01, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8873,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.84952892,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"04","issue":"01","first_page":"125","last_page":"149"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9718999862670898,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8507723808288574},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.8401521444320679},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8258681893348694},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7467573881149292},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6832112669944763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6235832571983337},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6033949255943298},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.541665256023407},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5286886096000671},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.477610319852829},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44214481115341187},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41211026906967163},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3996025025844574},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3537556231021881},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3207513093948364},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13437983393669128},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06826254725456238}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8507723808288574},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.8401521444320679},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8258681893348694},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7467573881149292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6832112669944763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6235832571983337},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6033949255943298},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.541665256023407},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5286886096000671},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.477610319852829},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44214481115341187},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41211026906967163},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3996025025844574},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3537556231021881},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3207513093948364},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13437983393669128},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06826254725456238},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843607000960","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843607000960","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"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":6,"referenced_works":["https://openalex.org/W1990777642","https://openalex.org/W2037729465","https://openalex.org/W2075301351","https://openalex.org/W2114193135","https://openalex.org/W2753693129","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2917514722","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W1971413691","https://openalex.org/W3043170174","https://openalex.org/W2050548713"],"abstract_inverted_index":{"Unlike":[0],"wheeled":[1],"robots,":[2],"humanoid":[3,99],"robots":[4],"are":[5,61,101],"able":[6],"to":[7,23,54,73,85,118],"cross":[8],"obstacles":[9],"by":[10,35],"stepping":[11],"over":[12],"or":[13],"upon":[14],"them.":[15],"Conventional":[16],"2D":[17],"methods":[18],"for":[19],"robot":[20,100],"navigation":[21],"fail":[22,117],"exploit":[24],"this":[25,48,66],"unique":[26],"ability":[27],"of":[28,50,59,90,96,108],"humanoids":[29],"and":[30],"thus":[31],"design":[32],"trajectories":[33],"only":[34],"circumventing":[36],"obstacles.":[37],"Recently,":[38],"global":[39],"algorithms":[40,116],"have":[41],"been":[42],"presented":[43],"that":[44,80,114],"take":[45],"into":[46],"account":[47],"feature":[49],"humanoids.":[51],"However,":[52],"due":[53],"high":[55],"computational":[56],"complexity,":[57],"most":[58],"them":[60],"very":[62],"time":[63],"consuming.":[64],"In":[65],"paper,":[67],"we":[68],"present":[69],"a":[70,82,94],"new":[71],"approach":[72],"footstep":[74],"planning":[75],"in":[76,122],"obstacle":[77,124],"cluttered":[78,125],"environments":[79],"employs":[81],"human-like":[83],"strategy":[84],"terrain":[86],"traversal.":[87],"Simulation":[88],"results":[89],"its":[91],"implementation":[92],"on":[93],"model":[95],"the":[97],"Saika-3":[98],"also":[102],"presented.":[103],"The":[104],"algorithm,":[105],"being":[106],"one":[107],"reactive":[109,115],"nature,":[110],"refutes":[111],"previous":[112],"claims":[113],"find":[119],"successful":[120],"paths":[121],"complex":[123],"environments.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}