{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,26]],"date-time":"2025-03-26T17:36:24Z","timestamp":1743010584591,"version":"3.40.3"},"publisher-location":"Cham","reference-count":30,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030954581"},{"type":"electronic","value":"9783030954598"}],"license":[{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022]]},"DOI":"10.1007\/978-3-030-95459-8_38","type":"book-chapter","created":{"date-parts":[[2022,2,17]],"date-time":"2022-02-17T19:02:27Z","timestamp":1645124547000},"page":"626-641","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Composition of Templates for Transitional Pedipulation Behaviors"],"prefix":"10.1007","author":[{"given":"T. Turner","family":"Topping","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vasileios","family":"Vasilopoulos","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Avik","family":"De","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniel E.","family":"Koditschek","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,2,17]]},"reference":[{"issue":"4","key":"38_CR1","doi-asserted-by":"publisher","first-page":"76","DOI":"10.1177\/027836498400300405","volume":"3","author":"JE Hopcroft","year":"1984","unstructured":"Hopcroft, J.E., Schwartz, J.T., Sharir, M.: On the complexity of motion planning for multiple independent objects; PSPACE-hardness of the \u201cWarehouseman\u2019s problem\u2019\u2019. Int. J. Robot. Res. 3(4), 76\u201388 (1984)","journal-title":"Int. J. Robot. Res."},{"key":"38_CR2","doi-asserted-by":"crossref","unstructured":"Vega-Brown, W.,\u00a0Roy, N.: Admissible abstractions for near-optimal task and motion planning. In: 27th International Joint Conference on Artificial Intelligence, July 2018","DOI":"10.24963\/ijcai.2018\/674"},{"key":"38_CR3","doi-asserted-by":"crossref","unstructured":"Vasilopoulos, V.,\u00a0Vega-Brown, W.,\u00a0Arslan, O.,\u00a0Roy, N., Koditschek, D.E.: Sensor-based reactive symbolic planning in partially known environments. In: IEEE International Conference on Robotics and Automation, pp. 5683\u20135690, May 2018","DOI":"10.1109\/ICRA.2018.8460861"},{"key":"38_CR4","doi-asserted-by":"crossref","unstructured":"Vasilopoulos, V., Topping, T.T.,\u00a0Vega-Brown, W.,\u00a0Roy, N., Koditschek, D.E.: Sensor-based reactive execution of symbolic rearrangement plans by a legged mobile manipulator. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 3298\u20133305 (2018)","DOI":"10.1109\/IROS.2018.8594342"},{"key":"38_CR5","doi-asserted-by":"crossref","unstructured":"Mason, M.T.,\u00a0Pai, D.,\u00a0Rus, D., Taylor, L.R.,\u00a0Erdmann, M.: A mobile manipulator. In: IEEE International Conference on Robotics and Automation, pp. 2322\u20132327, vol.\u00a03, May 1999","DOI":"10.1109\/ROBOT.1999.770452"},{"key":"38_CR6","doi-asserted-by":"crossref","unstructured":"Mason, M.T., Lynch, K.M.: Dynamic manipulation. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 152\u2013159 (1993)","DOI":"10.1109\/IROS.1993.583093"},{"issue":"23","key":"38_CR7","doi-asserted-by":"publisher","first-page":"3325","DOI":"10.1242\/jeb.202.23.3325","volume":"202","author":"R Full","year":"1999","unstructured":"Full, R., Koditschek, D.: Templates and anchors: neuromechanical hypotheses of legged locomotion on land. J. Exp. Biol. 202(23), 3325\u20133332 (1999)","journal-title":"J. Exp. Biol."},{"issue":"2","key":"38_CR8","doi-asserted-by":"publisher","first-page":"900","DOI":"10.1109\/LRA.2016.2528294","volume":"1","author":"G Kenneally","year":"2016","unstructured":"Kenneally, G., De, A., Koditschek, D.E.: Design principles for a family of direct-drive legged robots. IEEE Robot. Autom. Lett. 1(2), 900\u2013907 (2016)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"38_CR9","unstructured":"Ghost Robotics (2019). https:\/\/www.ghostrobotics.io"},{"key":"38_CR10","doi-asserted-by":"crossref","unstructured":"Johnson, A.M., Koditschek, D.E.: Toward a vocabulary of legged leaping. In: IEEE International Conference on Robotics and Automation, pp. 2553\u20132560 (2013)","DOI":"10.1109\/ICRA.2013.6630928"},{"key":"38_CR11","doi-asserted-by":"crossref","unstructured":"Koyachi, N.,\u00a0Adachi, H.,\u00a0Izumi, M.,\u00a0Hirose, T.: Control of walk and manipulation by a hexapod with integrated limb mechanism: MELMANTIS-1. In: IEEE International Conference on Robotics and Automation, pp. 3553\u20133558, vol.\u00a04 (2002)","DOI":"10.1109\/ROBOT.2002.1014260"},{"issue":"2","key":"38_CR12","doi-asserted-by":"publisher","first-page":"468","DOI":"10.1017\/S0263574714001799","volume":"34","author":"X Ding","year":"2016","unstructured":"Ding, X., Yang, F.: Study on hexapod robot manipulation using legs. Robotica 34(2), 468\u2013481 (2016)","journal-title":"Robotica"},{"key":"38_CR13","doi-asserted-by":"crossref","unstructured":"Rehman, B.U.,\u00a0Focchi, M.,\u00a0Lee, J.,\u00a0Dallali, H., Caldwell, D.G.,\u00a0Semini, C.: Towards a multi-legged mobile manipulator. In: IEEE International Conference on Robotics and Automation, pp. 3618\u20133624 (2016)","DOI":"10.1109\/ICRA.2016.7487545"},{"key":"38_CR14","doi-asserted-by":"crossref","unstructured":"Schwarz, M., Rodehutskors, T., Droeschel, D., Beul, M., Schreiber, M., Araslanov, N., Ivanov, I., Lenz, C., Razlaw, J., Schller, S.: NimbRo rescue: solving disaster-response tasks with the mobile manipulation robot momaro. J. Field Robot. 34(2) 400\u2013425 (2017)","DOI":"10.1002\/rob.21677"},{"issue":"4","key":"38_CR15","doi-asserted-by":"publisher","first-page":"505","DOI":"10.1142\/S0219843605000594","volume":"2","author":"L Sentis","year":"2005","unstructured":"Sentis, L., Khatib, O.: Synthesis of whole-body behaviors through hierarchical control of behavioral primitives. Int. J. Hum. Robot. 2(4), 505\u2013518 (2005)","journal-title":"Int. J. Hum. Robot."},{"issue":"2","key":"38_CR16","doi-asserted-by":"publisher","first-page":"1650003","DOI":"10.1142\/S0219843616500031","volume":"13","author":"R Cisneros","year":"2016","unstructured":"Cisneros, R., Yokoi, K., Yoshida, E.: Impulsive pedipulation of a spherical object with 3D goal position by a humanoid robot: a 3D targeted kicking motion generator. Int. J. Hum. Robot. 13(2), 1650003 (2016)","journal-title":"Int. J. Hum. Robot."},{"key":"38_CR17","unstructured":"Strom-Hansen, T.,\u00a0Thor, M., Larsen, L.B.,\u00a0Baird, E.,\u00a0Manoonpong, P.: Distributed sensor-driven control for bio-inspired walking and ball rolling of a dung beetle-like robot. In: SWARM, pp. 196\u2013199 (2017)"},{"key":"38_CR18","unstructured":"De, A., Topping, T.T., Koditschek, D.E.: A universal template for pitch-steady behaviors in planar floating-torso locomotion models. In Prep (2019)"},{"key":"38_CR19","unstructured":"De, A., Topping, T.T., Koditschek, D.E.: Hybrid averaging of almost-reversible sagittal hopping and bounding compositions. In Prep (2019)"},{"key":"38_CR20","unstructured":"Ghost Robotics Vision60 (2019). www.ghostrobotics.io\/"},{"key":"38_CR21","doi-asserted-by":"crossref","unstructured":"Bledt, G., Powell, M.J.,\u00a0Katz, B.,\u00a0Di Carlo, J., Wensing, P.M.,\u00a0Kim, S.: MIT Cheetah 3: design and control of a robust, dynamic quadruped robot. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2245\u20132252, October 2018","DOI":"10.1109\/IROS.2018.8593885"},{"key":"38_CR22","unstructured":"Agility Robotics: Cassie (2019). www.agilityrobotics.com"},{"key":"38_CR23","unstructured":"Boston Dynamics: Spot-mini (2019). www.bostondynamics.com"},{"key":"38_CR24","doi-asserted-by":"publisher","first-page":"215","DOI":"10.1613\/jair.5575","volume":"61","author":"G Konidaris","year":"2018","unstructured":"Konidaris, G., Kaebling, L.P., Lozano-Perez, T.: From skills to symbols: learning symbolic representations for abstract high-level planning. J. Artif. Intell. Res. 61, 215\u2013289 (2018)","journal-title":"J. Artif. Intell. Res."},{"issue":"11","key":"38_CR25","doi-asserted-by":"publisher","first-page":"1354","DOI":"10.1177\/0278364916639380","volume":"35","author":"AM Johnson","year":"2016","unstructured":"Johnson, A.M., Burden, S.A., Koditschek, D.E.: A hybrid systems model for simple manipulation and self-manipulation systems. Int. J. Robot. Res. 35(11), 1354\u20131392 (2016)","journal-title":"Int. J. Robot. Res."},{"issue":"7","key":"38_CR26","doi-asserted-by":"publisher","first-page":"886","DOI":"10.1177\/0278364912442972","volume":"31","author":"A Rodriguez","year":"2012","unstructured":"Rodriguez, A., Mason, M.T., Ferry, S.: From caging to grasping. Int. J. Robot. Res. 31(7), 886\u2013900 (2012)","journal-title":"Int. J. Robot. Res."},{"issue":"7","key":"38_CR27","doi-asserted-by":"publisher","first-page":"743","DOI":"10.1177\/0278364918779874","volume":"37","author":"A De","year":"2018","unstructured":"De, A., Koditschek, D.E.: Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting. Int. J. Robot. Res. 37(7), 743\u2013778 (2018)","journal-title":"Int. J. Robot. Res."},{"key":"38_CR28","series-title":"Springer Tracts in Advanced Robotics","doi-asserted-by":"publisher","first-page":"71","DOI":"10.1007\/978-3-540-68405-3_5","volume-title":"Algorithmic Foundation of Robotics VII","author":"M Vahedi","year":"2008","unstructured":"Vahedi, M., Van Der Stappen, A.: Caging polygons with two and three fingers. In: Akella, S., Amato, N.M., Huang, W.H., Mishra, B. (eds.) Algorithmic Foundation of Robotics VII. Springer Tracts in Advanced Robotics, vol. 47, pp. 71\u201386. Springer, Heidelberg (2008). https:\/\/doi.org\/10.1007\/978-3-540-68405-3_5"},{"key":"38_CR29","doi-asserted-by":"crossref","unstructured":"Topping, T.T.,\u00a0Kenneally, G., Koditschek, D.E.: Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot. In: IEEE International Conference on Robotics and Automation, pp. 1080\u20131087, May 2017","DOI":"10.1109\/ICRA.2017.7989130"},{"key":"38_CR30","unstructured":"ghost$$\\_$$gazebo: ROS package for the simulation of Ghost Robotics platforms using Gazebo (2019). https:\/\/github.com\/KodlabPenn\/ghost_gazebo\/"}],"container-title":["Springer Proceedings in Advanced Robotics","Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-95459-8_38","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,18]],"date-time":"2024-09-18T20:57:20Z","timestamp":1726693040000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-95459-8_38"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022]]},"ISBN":["9783030954581","9783030954598"],"references-count":30,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-95459-8_38","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"type":"print","value":"2511-1256"},{"type":"electronic","value":"2511-1264"}],"subject":[],"published":{"date-parts":[[2022]]},"assertion":[{"value":"17 February 2022","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ISRR","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"The International Symposium of Robotics Research","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Hanoi","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Vietnam","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2019","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"6 October 2019","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"10 October 2019","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"isrr2019","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/h2t-projects.webarchiv.kit.edu\/Projects\/ISRR2019\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}