{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,29]],"date-time":"2026-07-29T14:29:26Z","timestamp":1785335366541,"version":"3.55.0"},"reference-count":45,"publisher":"Informa UK Limited","issue":"21-22","content-domain":{"domain":["www.tandfonline.com"],"crossmark-restriction":true},"short-container-title":["Advanced Robotics"],"published-print":{"date-parts":[[2020,11,16]]},"DOI":"10.1080\/01691864.2020.1803128","type":"journal-article","created":{"date-parts":[[2020,8,8]],"date-time":"2020-08-08T12:34:13Z","timestamp":1596890053000},"page":"1370-1379","update-policy":"https:\/\/doi.org\/10.1080\/tandf_crossmark_01","source":"Crossref","is-referenced-by-count":15,"title":["A survey of motion planning techniques for humanoid robots"],"prefix":"10.1080","volume":"34","author":[{"given":"Y.","family":"Tazaki","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"M.","family":"Murooka","sequence":"additional","affiliation":[{"name":"CNRS-AIST Joint Robotics Laboratory, IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"301","published-online":{"date-parts":[[2020,8,8]]},"reference":[{"key":"CIT0001","doi-asserted-by":"crossref","unstructured":"Chestnutt J, Nishiwaki K, Kuffner J, et\u00a0al. An adaptive action model for legged navigation planning. IEEE-RAS Int Conf Humanoid Robots; 2007. p. 196\u2013202.","DOI":"10.1109\/ICHR.2007.4813868"},{"key":"CIT0002","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912455720"},{"key":"CIT0003","unstructured":"Huang W, Kim J, Atkeson CG. Energy-based optimal step planning for humanoids. IEEE Int Conf Robotics and Automation; 2013. p. 3124\u20133129."},{"key":"CIT0004","doi-asserted-by":"crossref","unstructured":"Hornung A, Dornbush A, Likhachev M, et\u00a0al. Anytime search-based footstep planning with suboptimality bounds. IEEE-RAS Int Conf Humanoid Robots; 2012. p. 674\u2013679.","DOI":"10.1109\/HUMANOIDS.2012.6651592"},{"key":"CIT0005","unstructured":"Michel P, Chestnutt J, Kuffner J, et\u00a0al. Vision-guided humanoid footstep planning for dynamic environments. IEEE-RAS Int Conf Humanoid Robots; 2005. p. 13\u201318."},{"key":"CIT0006","doi-asserted-by":"crossref","unstructured":"Garimort J, Hornung A, Bennewitz M. Humanoid navigation with dynamic footstep plans. IEEE Int Conf Robotics and Automation; 2011. p. 3982\u20133987.","DOI":"10.1109\/ICRA.2011.5979656"},{"key":"CIT0007","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913481250"},{"key":"CIT0008","doi-asserted-by":"crossref","unstructured":"Perrin N, Stasse O, Lamiraux F, et\u00a0al. Weakly collision-free paths for continuous humanoid footstep planning. IEEE\/RSJ Int Conf Intelligent Robots and Syst; 2011. p. 4408\u20134413.","DOI":"10.1109\/IROS.2011.6094511"},{"key":"CIT0009","doi-asserted-by":"crossref","unstructured":"Baudouin L, Perrin N, Moulard T, et\u00a0al. Real-time replanning using 3D environment for humanoid robot. IEEE-RAS Int Conf Humanoid Robots; 2011. p. 584\u2013589.","DOI":"10.1109\/Humanoids.2011.6100844"},{"key":"CIT0010","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2172152"},{"key":"CIT0011","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843614410035"},{"key":"CIT0012","doi-asserted-by":"crossref","unstructured":"Deits R, Tedrake R. Footstep planning on uneven terrain with mixed-integer convex optimization. IEEE-RAS Int Conf Humanoid Robots; 2014. p. 279\u2013286.","DOI":"10.21236\/ADA609276"},{"key":"CIT0013","doi-asserted-by":"crossref","unstructured":"Perrin N. Biped footstep planning. Humanoid robotics: a reference. Springer; 2018.","DOI":"10.1007\/978-94-007-6046-2_29"},{"key":"CIT0014","doi-asserted-by":"crossref","unstructured":"Herzog A, Righetti L, Grimminger F, et\u00a0al. Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics. IEEE\/RSJ Int Conf Intelligent Robots and Syst; 2014. p. 981\u2013988.","DOI":"10.1109\/IROS.2014.6942678"},{"key":"CIT0015","doi-asserted-by":"crossref","unstructured":"Hopkins MA, Hong DW, Leonessa A. Compliant locomotion using whole-body control and divergent component of motion tracking. IEEE Int Conf Robotics and Automation; 2015. p. 5726\u20135733.","DOI":"10.1109\/ICRA.2015.7140001"},{"key":"CIT0016","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9479-3"},{"key":"CIT0017","doi-asserted-by":"crossref","unstructured":"Caron S, Kheddar A. Dynamic walking over rough terrains by nonlinear predictive control of the floating-base inverted pendulum. IEEE\/RSJ Int Conf Intelligent Robots and Syst; 2017.","DOI":"10.1109\/IROS.2017.8206385"},{"key":"CIT0018","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2405592"},{"key":"CIT0019","doi-asserted-by":"publisher","DOI":"10.1109\/70.149940"},{"key":"CIT0020","doi-asserted-by":"crossref","unstructured":"Kajita S, Kanehiro F, Kaneko K, et\u00a0al. A realtime pattern generator for biped walking. IEEE Int Conf Robotics and Automation; 2002. p. 31\u201337.","DOI":"10.1109\/ROBOT.2002.1013335"},{"key":"CIT0021","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2016.p0533"},{"key":"CIT0022","unstructured":"Kajita S, Kanehiro F, Kaneko K, et\u00a0al. Biped walking pattern generation by using preview control of zero-moment point. IEEE Int Conf Robotics and Automation; 2003. p. 1620\u20131626."},{"key":"CIT0023","doi-asserted-by":"publisher","DOI":"10.1163\/016918610X493552"},{"key":"CIT0024","unstructured":"Dimitrov D, Paolillo A, Wieber P-B. Walking motion generation with online foot position adaptation based on l1- and l\u221e-norm penalty formulations. IEEE Int Conf Robotics and Automation; 2011. p. 3523\u20133529."},{"key":"CIT0025","doi-asserted-by":"crossref","unstructured":"Bouyarmane K, Caron S, Escande A, et\u00a0al. Multi-contact motion planning and control. Humanoid robotics: a reference. Springer; 2018.","DOI":"10.1007\/978-94-007-6046-2_32"},{"key":"CIT0026","doi-asserted-by":"crossref","unstructured":"Tassa Y, Todorov E. Stochastic complementarity for local control of discontinuous dynamics. Robotics: Sci and Syst; 2010.","DOI":"10.15607\/RSS.2010.VI.022"},{"key":"CIT0027","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913506757"},{"key":"CIT0028","doi-asserted-by":"crossref","unstructured":"Carpentier J, Tonneau S, Naveau M, et\u00a0al. A versatile and efficient pattern generator for generalized legged locomotion. IEEE Int Conf Robotics and Automation; 2016. p. 3555\u20133561.","DOI":"10.1109\/ICRA.2016.7487538"},{"key":"CIT0029","doi-asserted-by":"crossref","unstructured":"Herzog A, Rotella N, Schaal S, et\u00a0al. Trajectory generation for multi-contact momentum control. IEEE-RAS Int Conf Humanoid Robots; 2015. p. 874\u2013880.","DOI":"10.1109\/HUMANOIDS.2015.7363464"},{"key":"CIT0030","doi-asserted-by":"crossref","unstructured":"Ponton B, Herzog A, Schaal S, et\u00a0al. A convex model of humanoid momentum dynamics for multi-contact motion generation. IEEE-RAS Int Conf Humanoid Robots; 2016. p. 842\u2013849.","DOI":"10.1109\/HUMANOIDS.2016.7803371"},{"key":"CIT0031","doi-asserted-by":"crossref","unstructured":"Ferhbach P, Tonneau S, Ta\u00efx M. CROC: Convex resolution of centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem. IEEE\/RSJ Int Conference on Intelligent Robots and Syst; 2018. p. 1\u20139.","DOI":"10.1109\/IROS.2018.8593888"},{"key":"CIT0032","first-page":"134","volume":"17","author":"Nagasaka K","year":"2012","journal-title":"Robotics Symposia (in Japanese)"},{"key":"CIT0033","doi-asserted-by":"crossref","unstructured":"Audren H, Vaillant J, Kheddar A, et\u00a0al. Model preview control in multi-contact motion-application to a humanoid robot. IEEE\/RSJ Int Conf Intelligent Robots and Syst; 2014. p. 4030\u20134035.","DOI":"10.1109\/IROS.2014.6943129"},{"key":"CIT0034","doi-asserted-by":"crossref","unstructured":"Nozawa S, Kanazawa M, Kakiuchi Y, et\u00a0al. Three-dimensional humanoid motion planning using COM feasible region and its application to ladder climbing tasks. IEEE-RAS Int Conf Humanoid Robots; 2016. p. 49\u201356.","DOI":"10.1109\/HUMANOIDS.2016.7803253"},{"key":"CIT0035","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-013-9341-4"},{"key":"CIT0036","doi-asserted-by":"crossref","unstructured":"Dai H, Velanzuela A, Tedrake R. Whole-body motion planning with centroidal dynamics and full kinematics. IEEE-RAS Int Conf Humanoid Robots; 2014. p. 295\u2013302.","DOI":"10.1109\/HUMANOIDS.2014.7041375"},{"key":"CIT0037","unstructured":"Hauser A, Bretl T, Latombe JC. Non-gaited humanoid locomotion planning. IEEE-RAS Int Conf Humanoid Robots; 2005. p. 7\u201312."},{"key":"CIT0038","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2012.686345"},{"key":"CIT0039","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.01.008"},{"key":"CIT0040","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2819658"},{"issue":"4","key":"CIT0041","first-page":"00","volume":"31","author":"Mordatch I","year":"2012","journal-title":"ACM Trans Graphics, Proc ACM SIGGRAPH 2012"},{"key":"CIT0042","doi-asserted-by":"crossref","unstructured":"Mastalli C, Havoutis I, Focchi M, et\u00a0al. Hierarchical planning of dynamic movements without scheduled contact sequences. IEEE Int Conf Robotics and Automation; 2016 p. 4636\u20134641.","DOI":"10.1109\/ICRA.2016.7487664"},{"key":"CIT0043","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-004-0559-y"},{"key":"CIT0044","doi-asserted-by":"publisher","DOI":"10.1137\/S0036144504446096"},{"key":"CIT0045","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2798285"}],"container-title":["Advanced Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.tandfonline.com\/doi\/pdf\/10.1080\/01691864.2020.1803128","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,11]],"date-time":"2024-08-11T14:16:54Z","timestamp":1723385814000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.tandfonline.com\/doi\/full\/10.1080\/01691864.2020.1803128"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,8,8]]},"references-count":45,"journal-issue":{"issue":"21-22","published-print":{"date-parts":[[2020,11,16]]}},"alternative-id":["10.1080\/01691864.2020.1803128"],"URL":"https:\/\/doi.org\/10.1080\/01691864.2020.1803128","relation":{},"ISSN":["0169-1864","1568-5535"],"issn-type":[{"value":"0169-1864","type":"print"},{"value":"1568-5535","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,8,8]]},"assertion":[{"value":"The publishing and review policy for this title is described in its Aims & Scope.","order":1,"name":"peerreview_statement","label":"Peer Review Statement"},{"value":"http:\/\/www.tandfonline.com\/action\/journalInformation?show=aimsScope&journalCode=tadr20","URL":"http:\/\/www.tandfonline.com\/action\/journalInformation?show=aimsScope&journalCode=tadr20","order":2,"name":"aims_and_scope_url","label":"Aim & Scope"},{"value":"2020-01-30","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-06-16","order":1,"name":"revised","label":"Revised","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-07-12","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-08-08","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}