{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T03:34:13Z","timestamp":1782963253555,"version":"3.54.5"},"reference-count":24,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2012,8,17]],"date-time":"2012-08-17T00:00:00Z","timestamp":1345161600000},"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":[[2012,9]]},"abstract":"<jats:p>The present paper describes the integration of laser-based perception, footstep planning, and walking control of a humanoid robot for navigation over previously unknown rough terrain. A perception system that obtains the shape of the surrounding environment to an accuracy of a few centimeters is realized based on input obtained using a scanning laser range sensor. A footstep planner decides the sequence of stepping positions using the obtained terrain shape. A walking controller that can cope with a few centimeters of error in terrain shape measurement is achieved by combining the generation of a 40-ms cycle online walking pattern and a ground reaction force controller with sensor feedback. An operational interface was developed to send commands to the robot. A mixed-reality display was adopted to realize an intuitive interface. The navigation system was implemented on the HRP-2, a full-size humanoid robot. The performance of the proposed system for navigation over unknown rough terrain and the accuracy of the terrain shape measurement were investigated through several experiments.<\/jats:p>","DOI":"10.1177\/0278364912455720","type":"journal-article","created":{"date-parts":[[2012,8,17]],"date-time":"2012-08-17T23:55:07Z","timestamp":1345247707000},"page":"1251-1262","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":88,"title":["Autonomous navigation of a humanoid robot over unknown rough terrain using a laser range sensor"],"prefix":"10.1177","volume":"31","author":[{"given":"Koichi","family":"Nishiwaki","sequence":"first","affiliation":[{"name":"Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Japan"},{"name":"Japan Science and Technology Agency, CREST, 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