{"id":"https://openalex.org/W2055954884","doi":"https://doi.org/10.2316/journal.201.2010.2.201-2168","title":"HUMANOID ROBOT MOTION PLANNING \u2013 A MULTIPLE CONSTRAINS APPROACH","display_name":"HUMANOID ROBOT MOTION PLANNING \u2013 A MULTIPLE CONSTRAINS APPROACH","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W2055954884","doi":"https://doi.org/10.2316/journal.201.2010.2.201-2168","mag":"2055954884"},"language":"en","primary_location":{"id":"doi:10.2316/journal.201.2010.2.201-2168","is_oa":false,"landing_page_url":"https://doi.org/10.2316/journal.201.2010.2.201-2168","pdf_url":null,"source":{"id":"https://openalex.org/S111371982","display_name":"Control and Intelligent Systems","issn_l":"1480-1752","issn":["1480-1752","1925-5810"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Control and Intelligent Systems","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/A5002360849","display_name":"Genci Capi","orcid":"https://orcid.org/0000-0003-2079-9959"},"institutions":[{"id":"https://openalex.org/I42766147","display_name":"University of Toyama","ror":"https://ror.org/0445phv87","country_code":"JP","type":"education","lineage":["https://openalex.org/I42766147"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"G. Capi","raw_affiliation_strings":["University of Toyama"],"affiliations":[{"raw_affiliation_string":"University of Toyama","institution_ids":["https://openalex.org/I42766147"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108230193","display_name":"K. Mitobe","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165438","display_name":"Yamagata University Hospital","ror":"https://ror.org/05gg4qm19","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210165438"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Mitobe","raw_affiliation_strings":["Yamagata University"],"affiliations":[{"raw_affiliation_string":"Yamagata University","institution_ids":["https://openalex.org/I4210165438"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5002360849"],"corresponding_institution_ids":["https://openalex.org/I42766147"],"apc_list":null,"apc_paid":null,"fwci":0.42932663,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.66214335,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"38","issue":"2","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":0.9994999766349792,"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"}},"topics":[{"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.910099983215332,"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":0.6634858250617981},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6390202641487122},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5329264998435974},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5232148170471191},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45293691754341125},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34147483110427856},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3206993341445923}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6634858250617981},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6390202641487122},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5329264998435974},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5232148170471191},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45293691754341125},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34147483110427856},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3206993341445923}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.2316/journal.201.2010.2.201-2168","is_oa":false,"landing_page_url":"https://doi.org/10.2316/journal.201.2010.2.201-2168","pdf_url":null,"source":{"id":"https://openalex.org/S111371982","display_name":"Control and Intelligent Systems","issn_l":"1480-1752","issn":["1480-1752","1925-5810"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Control and Intelligent Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8999999761581421,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W42649658","https://openalex.org/W1545656448","https://openalex.org/W1553373771","https://openalex.org/W1564372824","https://openalex.org/W1595498733","https://openalex.org/W1989167006","https://openalex.org/W2025681463","https://openalex.org/W2037729465","https://openalex.org/W2043727402","https://openalex.org/W2064333493","https://openalex.org/W2121365620","https://openalex.org/W2124431379","https://openalex.org/W2126105956","https://openalex.org/W2153648156","https://openalex.org/W2914508454"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2088677124","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W1593091151"],"abstract_inverted_index":{"In":[0,16,94],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,28,36,64,87],"new":[6],"method":[7,60],"for":[8],"humanoid":[9,22,72,83,110],"robot":[10,23,73,84],"motion":[11,24],"planning":[12],"under":[13],"multiple":[14,20],"constraints.":[15],"our":[17],"method,":[18],"the":[19,58,99,108],"constraints":[21],"is":[25,61],"formulated":[26],"as":[27,35],"multiobjective":[29,68],"optimization":[30],"problem,":[31],"considering":[32],"each":[33,76],"constraint":[34],"separate":[37],"objective":[38],"function.":[39],"Three":[40],"different":[41],"constrains":[42],"are":[43,70,105],"considered:":[44],"(1)":[45],"minimum":[46],"energy":[47],"consumption;":[48],"(2)":[49],"stability;":[50],"and":[51],"(3)":[52],"walking":[53],"speed.":[54],"The":[55,78],"advantage":[56],"of":[57,67,92,101],"proposed":[59],"that":[62,81,91],"in":[63],"single":[65],"run":[66],"evolution,":[69],"generated":[71],"motions":[74,103],"satisfying":[75],"constraint.":[77],"results":[79],"show":[80],"optimal":[82,102],"gaits":[85],"have":[86],"large":[88],"similarity":[89],"with":[90],"humans.":[93],"order":[95],"to":[96,107],"further":[97],"verify":[98],"performance":[100],"they":[104],"transferred":[106],"\u201cBonten-Maru\u201d":[109],"robot.":[111]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}