{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:01:33Z","timestamp":1777716093953,"version":"3.51.4"},"reference-count":26,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2010,6,10]],"date-time":"2010-06-10T00:00:00Z","timestamp":1276128000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2011,4]]},"abstract":"<jats:p>We present a novel approach to plan foot placements for a humanoid robot according to kinematic tasks. In this approach, the foot placements are determined by the continuous deformation of a robot motion including a locomotion phase according to the desired tasks. We propose to represent the motion by a virtual kinematic tree composed of a kinematic model of the robot and articulated foot placements. This representation allows us to formulate the motion deformation problem as a classical inverse kinematics problem on a kinematic tree. We first provide details of the basic scheme where the number of footsteps is given in advance and illustrate it with scenarios on the robot HRP-2. Then we propose a general criterion and an algorithm to adapt the number of footsteps progressively to the kinematic goal. The limits and possible extensions of this approach are discussed last.<\/jats:p>","DOI":"10.1177\/0278364910371238","type":"journal-article","created":{"date-parts":[[2010,6,10]],"date-time":"2010-06-10T20:51:00Z","timestamp":1276203060000},"page":"476-485","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":49,"title":["Planning foot placements for a humanoid robot: A problem of inverse                 kinematics"],"prefix":"10.1177","volume":"30","author":[{"given":"Oussama","family":"Kanoun","sequence":"first","affiliation":[{"name":"LAAS-CNRS, Toulouse, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jean-Paul","family":"Laumond","sequence":"additional","affiliation":[{"name":"LAAS-CNRS, Toulouse, France,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eiichi","family":"Yoshida","sequence":"additional","affiliation":[{"name":"AIST, Ibaraki Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2010,6,10]]},"reference":[{"key":"atypb1","volume":"24","author":"Akachi, K.","year":"2006","journal-title":"Nippon Robotto Gakkai Gakujutsu Koenkai Yokoshu"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1007\/s00371-004-0244-4"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000604"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/21.148426"},{"key":"atypb5","volume-title":"IEEE International Conference on Intelligent Robots and Systems","author":"Chestnutt, J."},{"key":"atypb6","volume-title":"Robotics: Science and Systems Conference","author":"Diankov, R."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-00196-3_35"},{"key":"atypb8","volume-title":"IEEE International Conference on Robotics and Automation","author":"Faverjon, B."},{"key":"atypb9","author":"Fiacco, A.V.","year":"1987","journal-title":"Classics in Applied Mathematics"},{"key":"atypb10","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kajita, S."},{"key":"atypb11","volume-title":"Robotics: Science and Systems Conference","author":"Kanehiro, F."},{"key":"atypb12","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kaneko, K."},{"key":"atypb13","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kanoun, O."},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000058"},{"key":"atypb15","volume-title":"IEEE International Conference on Intelligent Robots and Systems","author":"Kuffner, J."},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1023\/A:1013219111657"},{"key":"atypb17","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kuffner, J."},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1977.4309644"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889487"},{"key":"atypb20","volume-title":"Advanced Robotics: Redundancy and Optimization","author":"Nakamura, Y.","year":"1991"},{"key":"atypb21","volume-title":"IEEE-RSJ International Conference on Intelligent Robots and Systems","author":"Sakagami, Y."},{"key":"atypb22","volume-title":"IEEE International Conference on Robotics and Automation","author":"Siciliano, B."},{"key":"atypb23","volume-title":"IEEE International Conference on Intelligent Robots and Systems","author":"Sreenivasa, M."},{"key":"atypb24","volume-title":"IEEE-RAS International Conference on Humanoid Robots","author":"Yoshida, E."},{"key":"atypb25","volume-title":"IEEE-RAS International Conference on Humanoid Robots","author":"Yoshida, E."},{"key":"atypb26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2002312"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364910371238","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364910371238","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:17:19Z","timestamp":1777457839000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364910371238"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,6,10]]},"references-count":26,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2011,4]]}},"alternative-id":["10.1177\/0278364910371238"],"URL":"https:\/\/doi.org\/10.1177\/0278364910371238","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,6,10]]}}}