{"id":"https://openalex.org/W1975142260","doi":"https://doi.org/10.1109/icra.2014.6907536","title":"Autonomous environment manipulation to assist humanoid locomotion","display_name":"Autonomous environment manipulation to assist humanoid locomotion","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1975142260","doi":"https://doi.org/10.1109/icra.2014.6907536","mag":"1975142260"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907536","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://repository.gatech.edu/bitstreams/129be5e4-060c-4634-a9d0-e9c50c45a7ab/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073679739","display_name":"Martin Levihn","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martin Levihn","raw_affiliation_strings":["Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, 30332, USA"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, 30332, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113446235","display_name":"Koichi Nishiwaki","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Nishiwaki","raw_affiliation_strings":["Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo 135-0064, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo 135-0064, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113822737","display_name":"Satoshi Kagami","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Kagami","raw_affiliation_strings":["Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo 135-0064, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo 135-0064, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044606805","display_name":"Mike Stilman","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mike Stilman","raw_affiliation_strings":["Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, 30332, USA"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, 30332, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.25,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":16,"citation_normalized_percentile":{"value":0.872472,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":90},"biblio":{"volume":null,"issue":null,"first_page":"4633","last_page":"4638"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998,"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":0.9998,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9843,"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":0.9843,"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/traverse","display_name":"Traverse","score":0.8963678},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5174806},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.51673573}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8963678},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7993784},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7992759},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6887063},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5174806},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.51673573},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.510013},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44141364},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42584842},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.42207515},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3828557},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3562979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35278296},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.333197},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18255156},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907536","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hdl.handle.net/1853/52661","pdf_url":"http://repository.gatech.edu/bitstreams/129be5e4-060c-4634-a9d0-e9c50c45a7ab/download","source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":["Georgia Institute of Technology"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://hdl.handle.net/1853/52661","pdf_url":"http://repository.gatech.edu/bitstreams/129be5e4-060c-4634-a9d0-e9c50c45a7ab/download","source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":["Georgia Institute of Technology"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.54,"display_name":"Sustainable cities and communities"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":22,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1989604857","https://openalex.org/W1994314082","https://openalex.org/W2017146873","https://openalex.org/W2041753526","https://openalex.org/W2044725657","https://openalex.org/W2084959384","https://openalex.org/W2108507649","https://openalex.org/W2114171536","https://openalex.org/W2127895608","https://openalex.org/W2135639338","https://openalex.org/W2139039898","https://openalex.org/W2140291705","https://openalex.org/W2149850442","https://openalex.org/W2155752816","https://openalex.org/W2158070864","https://openalex.org/W2160303287","https://openalex.org/W2164474021","https://openalex.org/W2540258482","https://openalex.org/W2541589810","https://openalex.org/W2986717012","https://openalex.org/W70726757"],"related_works":["https://openalex.org/W4285102152","https://openalex.org/W4247750500","https://openalex.org/W3180160681","https://openalex.org/W2543019745","https://openalex.org/W2540452882","https://openalex.org/W2531662632","https://openalex.org/W2356070666","https://openalex.org/W2314176764","https://openalex.org/W1600238263","https://openalex.org/W1567230752"],"abstract_inverted_index":{"Legged":[0],"robots":[1,29,57,61],"have":[2,18,31,63],"unique":[3],"capabilities":[4,65],"to":[5,21,87,91,104,110],"traverse":[6],"complex":[7],"environments":[8],"by":[9],"stepping":[10],"over":[11],"and":[12,40],"onto":[13],"objects.":[14],"Many":[15],"footstep":[16,51],"planners":[17],"been":[19],"developed":[20],"take":[22],"advantage":[23],"of":[24,50],"these":[25],"capabilities.":[26],"However,":[27],"legged":[28],"also":[30],"inherent":[32],"constraints":[33,43],"such":[34,58],"as":[35,59],"a":[36,80,84,89,94,99,106],"maximum":[37],"step":[38,96],"height":[39],"distance.":[41],"These":[42],"typically":[44],"limit":[45],"their":[46],"reachable":[47],"space,":[48],"independent":[49],"planning.":[52],"Thus,":[53],"we":[54],"propose":[55],"that":[56,62,82],"humanoid":[60],"manipulation":[64],"should":[66,71],"use":[67,88],"them.":[68],"A":[69],"robot":[70,86],"autonomously":[72],"modify":[73],"its":[74,112],"environment":[75],"if":[76],"necessary.":[77],"We":[78],"present":[79],"system":[81],"enabled":[83],"real":[85],"box":[90],"create":[92],"itself":[93],"stair":[95],"or":[97],"place":[98],"board":[100],"on":[101],"the":[102],"ground":[103],"cross":[105],"gap,":[107],"allowing":[108],"it":[109],"reach":[111],"otherwise":[113],"unreachable":[114],"goal":[115],"configuration.":[116]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W1975142260","counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2}],"updated_date":"2024-12-16T20:23:58.882153","created_date":"2016-06-24"}