{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,30]],"date-time":"2022-03-30T21:34:59Z","timestamp":1648676099607},"reference-count":17,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2010,1,15]],"date-time":"2010-01-15T00:00:00Z","timestamp":1263513600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2010,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In our previous work, a random-sampling-based footstep planner has been proposed for global biped navigation. Goal-probability threshold (GPT) is the key parameter that controls the convergence rate of the goal-biased nonuniform sampling in the planner. In this paper, an approach to optimized GPT adaptation is explained by a benchmarking planning problem. We first construct a benchmarking model, in which the biped navigation problem is described in selected parameters, to study the relationship between these parameters and the optimized GPT. Then, a back-propagation (BP) neural network is employed to fit this relationship. With a trained BP neural network modular, the optimized GPT can be automatically generated according to the specifications of a planning problem. Compared with previous methods of manual and empirical tuning of GPT for individual planning problems, the proposed approach is self-adaptive. Numerical experiments verified the performance of the proposed approach and furthermore showed that planning with BP-generated GPTs is more stable. Besides the implementation in specific parameterized environments studied in this paper, we attempt to provide the frame of the proposed approach as a reference for footstep planning in other environments.<\/jats:p>","DOI":"10.1017\/s0263574709990804","type":"journal-article","created":{"date-parts":[[2010,1,15]],"date-time":"2010-01-15T10:21:53Z","timestamp":1263550913000},"page":"929-936","source":"Crossref","is-referenced-by-count":7,"title":["Parameter self-adaptation in biped navigation employing nonuniform randomized footstep planner"],"prefix":"10.1017","volume":"28","author":[{"given":"Zeyang","family":"Xia","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jing","family":"Xiong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ken","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2010,1,15]]},"reference":[{"key":"S0263574709990804_ref1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4022-9"},{"key":"S0263574709990804_ref6","first-page":"500","volume-title":"Proceedings IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Kuffner","year":"2001"},{"key":"S0263574709990804_ref2","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"S0263574709990804_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570188"},{"key":"S0263574709990804_ref3","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1007\/11008941_5","volume-title":"Proceedings of the International Symposium on Robotics Research","author":"Lindemann","year":"2005"},{"key":"S0263574709990804_ref14","first-page":"231","article-title":"Modeling and algorithm realization of footstep planning for humanoid robots","volume":"30","author":"Xia","year":"2008","journal-title":"Robot"},{"key":"S0263574709990804_ref5","first-page":"932","volume-title":"Proceedings IEEE International Conference Robotics and Automation","author":"Kuffner","year":"2003"},{"key":"S0263574709990804_ref12","unstructured":"12. Chestnutt J. , Navigation Planning for Legged Robots Ph.D. Thesis CMU-RI-TR-56-23 (Pittsburgh, PA: Robotics Institute, Carnegie Mellon University, Nov. 2007)."},{"key":"S0263574709990804_ref11","first-page":"13","volume-title":"Procceedings of the IEEE\/RAS International Conference on Humanoid Robots","author":"Michel","year":"2005"},{"key":"S0263574709990804_ref7","volume-title":"Proceedings of IEEE International Conference on Humanoid Robots","author":"Chestnutt","year":"2003"},{"key":"S0263574709990804_ref15","first-page":"168","volume-title":"IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009)","author":"Xia","year":"2009"},{"key":"S0263574709990804_ref17","first-page":"293","volume-title":"Workshop on the Algorithmic Foundations of Robotics","author":"LaValle","year":"2001"},{"key":"S0263574709990804_ref4","first-page":"365","article-title":"Motion planning for humanoid robots","volume":"15","author":"Kuffner","year":"2005","journal-title":"Trans. Adv. Rob."},{"key":"S0263574709990804_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2009.5230021"},{"key":"S0263574709990804_ref9","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843607000960"},{"key":"S0263574709990804_ref16","unstructured":"16. Xia Z. Y. , Sampling-Based Footstep Planning for Humanoid Robots Ph.D. Thesis (Beijing: Tsinghua University, 2008)."},{"key":"S0263574709990804_ref8","first-page":"422","volume-title":"Proceedings IEEE International Conference on Humanoid Robots","author":"Chestnutt","year":"2004"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709990804","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,26]],"date-time":"2020-05-26T20:19:43Z","timestamp":1590524383000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709990804\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,1,15]]},"references-count":17,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2010,10]]}},"alternative-id":["S0263574709990804"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709990804","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,1,15]]}}}