{"id":"https://openalex.org/W2154139861","doi":"https://doi.org/10.1177/0278364910388677","title":"Learning, planning, and control for quadruped locomotion over challenging terrain","display_name":"Learning, planning, and control for quadruped locomotion over challenging terrain","publication_year":2010,"publication_date":"2010-11-12","ids":{"openalex":"https://openalex.org/W2154139861","doi":"https://doi.org/10.1177/0278364910388677","mag":"2154139861"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910388677","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080415080","display_name":"Mrinal Kalakrishnan","orcid":"https://orcid.org/0000-0003-4292-9857"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mrinal Kalakrishnan","raw_affiliation_strings":["Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, CA 90089, USA,"],"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, CA 90089, USA,","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077279214","display_name":"Jonas Buchli","orcid":"https://orcid.org/0000-0001-7494-8492"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonas Buchli","raw_affiliation_strings":["Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, CA 90089, USA"],"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, CA 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103760848","display_name":"Peter P\u00e1stor","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Pastor","raw_affiliation_strings":["Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, CA 90089, USA"],"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, CA 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082553836","display_name":"Michael Mistry","orcid":"https://orcid.org/0000-0003-3979-922X"},"institutions":[{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Mistry","raw_affiliation_strings":["Disney Research, Pittsburgh, PA 15213, USA"],"affiliations":[{"raw_affiliation_string":"Disney Research, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I4210142140"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107392143","display_name":"Stefan Schaal","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, CA 90089, USA"],"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, CA 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5080415080"],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":7.968,"has_fulltext":false,"cited_by_count":284,"citation_normalized_percentile":{"value":0.927716,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"30","issue":"2","first_page":"236","last_page":"258"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.987,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9849,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.5777997},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.53173345}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.85146695},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.67361325},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.65908337},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.62425256},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.5777997},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.53626215},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.53278005},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.53173345},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46045923},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.46006596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4547571},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44938156},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.368441},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31237453},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25262707},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.144977},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11848983},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.10650566},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910388677","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.76,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":63,"referenced_works":["https://openalex.org/W1517411378","https://openalex.org/W1524645404","https://openalex.org/W1542928794","https://openalex.org/W1581489763","https://openalex.org/W1596218917","https://openalex.org/W1822001265","https://openalex.org/W1844209852","https://openalex.org/W1975230295","https://openalex.org/W1988274707","https://openalex.org/W2004915807","https://openalex.org/W2005805981","https://openalex.org/W2017346410","https://openalex.org/W2027197817","https://openalex.org/W2037729465","https://openalex.org/W2044459021","https://openalex.org/W2045360725","https://openalex.org/W2047221353","https://openalex.org/W2065238107","https://openalex.org/W2077673559","https://openalex.org/W2093404847","https://openalex.org/W2099893201","https://openalex.org/W2104588723","https://openalex.org/W2107955862","https://openalex.org/W2119778835","https://openalex.org/W2122880380","https://openalex.org/W2133859362","https://openalex.org/W2137300190","https://openalex.org/W2139053308","https://openalex.org/W2142132924","https://openalex.org/W2142646165","https://openalex.org/W2144587497","https://openalex.org/W2144908914","https://openalex.org/W2145148135","https://openalex.org/W2150317946","https://openalex.org/W2156174987","https://openalex.org/W2157822824","https://openalex.org/W2161076907","https://openalex.org/W2161427949","https://openalex.org/W2162495121","https://openalex.org/W2164032318","https://openalex.org/W2169528473","https://openalex.org/W2250331966","https://openalex.org/W2276141055","https://openalex.org/W2323447981","https://openalex.org/W2340503276","https://openalex.org/W2582998992","https://openalex.org/W2798766386","https://openalex.org/W2990138404","https://openalex.org/W2999905431","https://openalex.org/W3023988802","https://openalex.org/W3101685505","https://openalex.org/W3142707146","https://openalex.org/W4205362845","https://openalex.org/W4242186910","https://openalex.org/W4246329541","https://openalex.org/W4248949446","https://openalex.org/W4254313632","https://openalex.org/W4285719527","https://openalex.org/W4285784613","https://openalex.org/W4302039983","https://openalex.org/W4365800129","https://openalex.org/W4376551357","https://openalex.org/W618254468"],"related_works":["https://openalex.org/W4285089922","https://openalex.org/W3216096898","https://openalex.org/W3186208673","https://openalex.org/W2794103424","https://openalex.org/W2398554161","https://openalex.org/W2394276631","https://openalex.org/W2186639602","https://openalex.org/W2181837138","https://openalex.org/W2169426407","https://openalex.org/W2000932381"],"abstract_inverted_index":{"We":[0,12,94,146],"present":[1],"a":[2,46,61,75,110],"control":[3,31,42],"architecture":[4],"for":[5,87],"fast":[6,36],"quadruped":[7,107],"locomotion":[8,90],"over":[9,91,109],"rough":[10,114],"terrain.":[11],"approach":[13],"the":[14,67,96,105,123,140,144,148],"problem":[15],"by":[16,101,154,160],"decomposing":[17],"it":[18,103],"into":[19],"many":[20],"sub-systems,":[21],"in":[22,81],"which":[23],"we":[24],"apply":[25],"state-of-the-art":[26],"learning,":[27],"planning,":[28],"optimization,":[29],"and":[30,73,133],"techniques":[32],"to":[33,139,173],"achieve":[34],"robust,":[35,88],"locomotion.":[37],"Unique":[38],"features":[39],"of":[40,98,113,116,143,151],"our":[41,99],"strategy":[43],"include:":[44],"(1)":[45],"system":[47],"that":[48,122,168],"learns":[49],"optimal":[50],"foothold":[51],"choices":[52],"from":[53,157],"expert":[54],"demonstration":[55],"using":[56],"terrain":[57,121,167],"templates":[58],",":[59],"(2)":[60],"body":[62],"trajectory":[63],"optimizer":[64],"based":[65],"on":[66,104,127,166],"Zero-Moment":[68],"Point":[69],"(ZMP)":[70],"stability":[71],"criterion,":[72],"(3)":[74],"floating-base":[76],"inverse":[77],"dynamics":[78],"controller":[79,100,153],"that,":[80],"conjunction":[82],"with":[83,135],"force":[84],"control,":[85],"allows":[86],"compliant":[89],"unperceived":[92],"obstacles.":[93],"evaluate":[95],"performance":[97],"testing":[102,158],"LittleDog":[106],"robot,":[108],"wide":[111],"variety":[112],"terrains":[115],"varying":[117],"difficulty":[118],"levels.":[119],"The":[120],"robot":[124],"was":[125],"tested":[126],"includes":[128],"rocks,":[129],"logs,":[130],"steps,":[131],"barriers,":[132],"gaps,":[134],"obstacle":[136],"sizes":[137],"up":[138],"leg":[141],"length":[142],"robot.":[145],"demonstrate":[147],"generalization":[149],"ability":[150],"this":[152],"presenting":[155],"results":[156],"performed":[159],"an":[161],"independent":[162],"external":[163],"test":[164],"team":[165],"has":[169],"never":[170],"been":[171],"shown":[172],"us.":[174]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2154139861","counts_by_year":[{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":29},{"year":2020,"cited_by_count":23},{"year":2019,"cited_by_count":24},{"year":2018,"cited_by_count":17},{"year":2017,"cited_by_count":28},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":28},{"year":2014,"cited_by_count":22},{"year":2013,"cited_by_count":22},{"year":2012,"cited_by_count":16}],"updated_date":"2025-01-04T15:42:53.351549","created_date":"2016-06-24"}