{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,7,29]],"date-time":"2024-07-29T22:37:15Z","timestamp":1722292635587},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2001,4,9]],"date-time":"2001-04-09T00:00:00Z","timestamp":986774400000},"content-version":"unspecified","delay-in-days":282,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2000,7]]},"abstract":"<jats:p>The focus of this work is on sensor-based motion planning for a biped robot operating in a scene with unknown obstacles. Using on-line sensor information about its surroundings, the robot negotiates obstacles on its way. Depending on the obstacle's shape, size, and location, the decision-making system chooses an appropriate walking pattern. The robot \n\nthen negotiates the obstacle and resumes stable motion. The walking pattern is chosen from a small number of precomputed patterns that together cover a reasonably wide range of possible situations. The overall control strategy is based on the concept of Zero Moment Point. Each precomputed pattern guarantees dynamically stable motion; its stability is obtained by adjusting the swing leg center of mass and hip position trajectories. The approach is fast enough for real-time implementation. Simulation experiments demonstrate stability of motion when negotiating various obstacles.<\/jats:p>","DOI":"10.1017\/s0263574799002581","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T09:39:16Z","timestamp":1027762756000},"page":"389-402","source":"Crossref","is-referenced-by-count":8,"title":["Local on-line planning in biped robot locomotion amongst unknown obstacles"],"prefix":"10.1017","volume":"18","author":[{"given":"M.","family":"Yagi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"V.","family":"Lumelsky","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2001,4,9]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574799002581","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,8]],"date-time":"2019-05-08T17:02:15Z","timestamp":1557334935000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574799002581\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2000,7]]},"references-count":0,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2000,7]]}},"alternative-id":["S0263574799002581"],"URL":"https:\/\/doi.org\/10.1017\/s0263574799002581","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2000,7]]}}}