{"id":"https://openalex.org/W2905215966","doi":"https://doi.org/10.15167/kanajar-pavan_phd2018-02-06","title":"Negotiating Large Obstacles with a Humanoid Robot via Multi-Contact Motion Planning","display_name":"Negotiating Large Obstacles with a Humanoid Robot via Multi-Contact Motion Planning","publication_year":2018,"publication_date":"2018-02-06","ids":{"openalex":"https://openalex.org/W2905215966","doi":"https://doi.org/10.15167/kanajar-pavan_phd2018-02-06","mag":"2905215966"},"language":"en","primary_location":{"id":"pmh:oai:iris.unige.it:11567/933107","is_oa":true,"landing_page_url":"http://hdl.handle.net/11567/933107","pdf_url":"http://hdl.handle.net/11567/933107","source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"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/doctoralThesis"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11567/933107","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044084299","display_name":"Pavan Kanajar","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"KANAJAR, PAVAN","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5044084299"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.15061759,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.993399977684021,"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":0.993399977684021,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9857000112533569,"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":0.7381184101104736},{"id":"https://openalex.org/keywords/negotiation","display_name":"Negotiation","score":0.5892601013183594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5353150367736816},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5030009150505066},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4449889361858368},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4399672746658325},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43888288736343384},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40499019622802734},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39670366048812866},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1359909176826477},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.08177810907363892}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7381184101104736},{"id":"https://openalex.org/C199776023","wikidata":"https://www.wikidata.org/wiki/Q202875","display_name":"Negotiation","level":2,"score":0.5892601013183594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5353150367736816},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5030009150505066},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4449889361858368},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4399672746658325},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43888288736343384},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40499019622802734},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39670366048812866},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1359909176826477},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.08177810907363892},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"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":4,"locations":[{"id":"pmh:oai:iris.unige.it:11567/933107","is_oa":true,"landing_page_url":"http://hdl.handle.net/11567/933107","pdf_url":"http://hdl.handle.net/11567/933107","source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"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/doctoralThesis"},{"id":"pmh:doi:10.15167/kanajar-pavan_phd2018-02-06","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"doi:10.15167/kanajar-pavan_phd2018-02-06","is_oa":true,"landing_page_url":"https://doi.org/10.15167/kanajar-pavan_phd2018-02-06","pdf_url":null,"source":{"id":"https://openalex.org/S7407050993","display_name":"Universit\u00e0 degli Studi di Genova","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"},{"id":"mag:2905215966","is_oa":false,"landing_page_url":"https://iris.unige.it/handle/11567/933107","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:iris.unige.it:11567/933107","is_oa":true,"landing_page_url":"http://hdl.handle.net/11567/933107","pdf_url":"http://hdl.handle.net/11567/933107","source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"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/doctoralThesis"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2905215966.pdf","grobid_xml":"https://content.openalex.org/works/W2905215966.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W3188242361","https://openalex.org/W2343059891","https://openalex.org/W2802607352","https://openalex.org/W3142576496","https://openalex.org/W2544548454","https://openalex.org/W2079483114","https://openalex.org/W2978707598","https://openalex.org/W2521172403","https://openalex.org/W1488214156","https://openalex.org/W1547356731","https://openalex.org/W2035670768","https://openalex.org/W2235712882","https://openalex.org/W1799131012","https://openalex.org/W2135905390","https://openalex.org/W2008272713","https://openalex.org/W1483216796","https://openalex.org/W3096471708"],"abstract_inverted_index":{"Incremental":[0],"progress":[1],"in":[2,118,267],"humanoid":[3,108,134,230],"robot":[4,76,135,231],"locomotion":[5,30,63,109,136],"over":[6,16,22,67,199,219],"the":[7,29,46,49,72,75,119,139,142,156,167,175,206,244,250,268,277,281,290],"years":[8],"has":[9,32],"achieved":[10],"essential":[11],"capabilities":[12],"such":[13],"as":[14],"navigation":[15],"at":[17,141],"or":[18],"uneven":[19],"terrain,":[20],"stepping":[21],"small":[23],"obstacles":[24,69],"and":[25,41,144,161,215,276],"imbing":[26],"stairls.":[27],"However,":[28],"research":[31],"mostly":[33],"been":[34],"limited":[35],"to":[36,71,106,205,248,265],"using":[37,48],"only":[38,42],"bipedal":[39],"gait":[40],"foot":[43],"contacts":[44],"with":[45,90,213,224,232],"environment,":[47],"upper":[50,143],"body":[51,146],"for":[52,133,166,193,217,252,257,284,289],"balancing":[53],"without":[54],"considering":[55],"additional":[56],"external":[57],"contacts.":[58],"As":[59],"a":[60,128,150,194,200,220,228,241,273],"result,":[61],"challenging":[62,195],"tasks":[64],"like":[65],"climbing":[66,198,218],"large":[68,221],"relative":[70],"size":[73],"of":[74,87,116,123,197,235],"have":[77],"remained":[78],"unsolved.":[79],"In":[80],"this":[81,85],"paper,":[82],"we":[83],"address":[84],"class":[86],"open":[88],"problems":[89],"an":[91],"approach":[92,212],"based":[93,183],"on":[94],"multi-contact":[95,129,168,187,255,259,278,287],"motion":[96,130,164,169,188,260],"planning,":[97],"guided":[98],"by":[99,113],"physical":[100],"human":[101,282],"demonstrations.":[102],"Our":[103],"goal":[104],"is":[105,191,227],"make":[107],"problem":[110],"more":[111],"tractable":[112],"taking":[114],"advantage":[115],"objects":[117],"surrounding":[120],"environment":[121],"instead":[122],"avoiding":[124],"them.":[125],"We":[126,148,208,238],"propose":[127,149,240],"planning":[131,170,189,211],"algorithm":[132,173,190,251],"which":[137,154,226],"exploits":[138],"multi-contacts":[140],"lower":[145],"limbs.":[147],"contact":[151,157,162],"stability":[152],"measure,":[153],"simplies":[155],"search":[158],"from":[159,280],"demonstration":[160],"transition":[163],"generation":[165],"algorithm.":[171],"The":[172,186,270],"uses":[174],"whole-body":[176],"motions":[177],"generated":[178],"via":[179],"Quadratic":[180],"Programming":[181],"(QP)":[182],"solver":[184],"methods.":[185],"applied":[192],"task":[196],"relatively":[201],"larger":[202],"obstacle":[203,223],"compared":[204],"robot.":[207],"validate":[209],"our":[210,258],"simulations":[214],"experiments":[216],"wooden":[222],"COMAN,":[225],"complaint":[229],"23":[233],"degrees":[234],"freedom":[236],"(DOF).":[237],"also":[239],"generalization":[242],"method,":[243],"\\Policy-Contraction":[245],"Learning":[246],"Method\"":[247],"extend":[249],"generating":[253,285],"new":[254,286],"plans":[256,288],"planner,":[261],"that":[262],"can":[263],"adapt":[264],"changes":[266],"environment.":[269],"method":[271],"learns":[272],"general":[274],"policy":[275],"behavior":[279],"demonstrations,":[283],"obstacle-negotiation.":[291]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
