{"id":"https://openalex.org/W7140096496","doi":"https://doi.org/10.1109/isparo66239.2025.11436327","title":"Towards Proprioceptive Terrain Mapping with Quadruped Robots for Exploration in Planetary Permanently Shadowed Regions","display_name":"Towards Proprioceptive Terrain Mapping with Quadruped Robots for Exploration in Planetary Permanently Shadowed Regions","publication_year":2025,"publication_date":"2025-12-01","ids":{"openalex":"https://openalex.org/W7140096496","doi":"https://doi.org/10.1109/isparo66239.2025.11436327"},"language":"en","primary_location":{"id":"doi:10.1109/isparo66239.2025.11436327","doi":"https://doi.org/10.1109/isparo66239.2025.11436327","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isparo66239.2025.11436327","pdf_url":null,"source":{"id":"https://openalex.org/S7407097202","display_name":"International Conference on Space Robotics (iSpaRo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference on Space Robotics (iSpaRo)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2510.18986","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093668970","display_name":"Alberto S\u00e1nchez-Delgado","orcid":"https://orcid.org/0000-0002-4694-7561","observed_orcids":["https://orcid.org/0000-0002-4694-7561"]},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alberto Sanchez-Delgado","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems lab (DLS),Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems lab (DLS),Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030702043","display_name":"Jo\u00e3o Carlos Virgolino Soares","orcid":"https://orcid.org/0000-0002-6278-378X","observed_orcids":["https://orcid.org/0000-0002-6278-378X"]},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o Carlos Virgolino Soares","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems lab (DLS),Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems lab (DLS),Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086426608","display_name":"Victor Barasuol","orcid":"https://orcid.org/0000-0003-4966-5743","observed_orcids":["https://orcid.org/0000-0003-4966-5743"]},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Victor Barasuol","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems lab (DLS),Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems lab (DLS),Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010033061","display_name":"Claudio Semini","orcid":"https://orcid.org/0000-0002-3034-4686","observed_orcids":["https://orcid.org/0000-0002-3034-4686"]},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Semini","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems lab (DLS),Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems lab (DLS),Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":2.4486,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.91963377,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"189","last_page":"196"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9854000210762024,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9854000210762024,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10879","display_name":"Robotic Locomotion and Control","score":0.01080000028014183,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.0013000000035390258,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/quadruped-robot","display_name":"quadruped robot","score":0.8149999976158142},{"id":"https://openalex.org/keywords/permanently-shadowed-regions","display_name":"permanently shadowed regions","score":0.8109999895095825},{"id":"https://openalex.org/keywords/lunar-poles","display_name":"lunar poles","score":0.9100000262260437},{"id":"https://openalex.org/keywords/planetary-exploration","display_name":"planetary exploration","score":0.7919999957084656},{"id":"https://openalex.org/keywords/proprioception","display_name":"proprioception","score":0.7850000262260437},{"id":"https://openalex.org/keywords/topographic-mapping","display_name":"topographic mapping","score":0.9610000252723694},{"id":"https://openalex.org/keywords/legged-locomotion","display_name":"legged locomotion","score":0.8399999737739563},{"id":"https://openalex.org/keywords/energy-cost-estimation","display_name":"energy cost estimation","score":0.8450000286102295},{"id":"https://openalex.org/keywords/stability-margin","display_name":"stability margin","score":0.8259999752044678},{"id":"https://openalex.org/keywords/altitude-estimation","display_name":"altitude estimation","score":0.7839999794960022}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7070000171661377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.66839998960495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4625000059604645},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.436599999666214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39730000495910645},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3659999966621399},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.36090001463890076},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35359999537467957},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25920000672340393},{"id":"https://openalex.org/C2989411428","wikidata":"https://www.wikidata.org/wiki/Q2368937","display_name":"Planetary exploration","level":3,"score":0.25529998540878296},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2551000118255615}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/isparo66239.2025.11436327","doi":"https://doi.org/10.1109/isparo66239.2025.11436327","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isparo66239.2025.11436327","pdf_url":null,"source":{"id":"https://openalex.org/S7407097202","display_name":"International Conference on Space Robotics (iSpaRo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference on Space Robotics (iSpaRo)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2510.18986","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.18986","pdf_url":"https://arxiv.org/pdf/2510.18986","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2510.18986","doi":"https://doi.org/10.48550/arxiv.2510.18986","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.18986","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2510.18986","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.18986","pdf_url":"https://arxiv.org/pdf/2510.18986","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2126071137","https://openalex.org/W3109424835","https://openalex.org/W3196585373","https://openalex.org/W4205430897","https://openalex.org/W4213021124","https://openalex.org/W4224031880","https://openalex.org/W4384025110","https://openalex.org/W4389666162","https://openalex.org/W4389667371","https://openalex.org/W4399800410","https://openalex.org/W4399939205","https://openalex.org/W4401415831","https://openalex.org/W4402354009","https://openalex.org/W4402904171","https://openalex.org/W4405787785","https://openalex.org/W4406158043","https://openalex.org/W4406610554","https://openalex.org/W4408692400","https://openalex.org/W4411143286","https://openalex.org/W4412399112","https://openalex.org/W4412405668","https://openalex.org/W4416748836"],"related_works":["https://openalex.org/W7214739845","https://openalex.org/W7221067128","https://openalex.org/W7131275510","https://openalex.org/W2131991591","https://openalex.org/W4224273127","https://openalex.org/W7223103495","https://openalex.org/W2888398732","https://openalex.org/W4403721880","https://openalex.org/W2158464189","https://openalex.org/W7134912284"],"abstract_inverted_index":{"Permanently":[0],"Shadowed":[1],"Regions":[2],"(PSRs)":[3],"near":[4],"the":[5,31,82,128,144],"lunar":[6,141,155],"poles":[7],"are":[8,115],"of":[9,33],"interest":[10],"for":[11,95],"future":[12],"exploration":[13],"due":[14],"to":[15,18],"their":[16],"potential":[17],"contain":[19],"water":[20],"ice":[21],"and":[22,45,65,71,105,157],"preserve":[23],"geological":[24],"records.":[25],"Their":[26],"complex,":[27],"uneven":[28],"terrain":[29,69,92,125,158],"favors":[30],"use":[32],"legged":[34],"robots,":[35,97],"which":[36,98],"can":[37,67],"traverse":[38],"challenging":[39],"surfaces":[40],"while":[41],"collecting":[42],"in-situ":[43],"data,":[44],"have":[46],"proven":[47],"effective":[48],"in":[49,135],"Earth":[50],"analogs,":[51],"including":[52],"dark":[53],"caves,":[54],"when":[55],"equipped":[56],"with":[57,81],"onboard":[58],"lighting.":[59],"While":[60],"exteroceptive":[61],"sensors":[62],"like":[63],"cameras":[64],"lidars":[66],"capture":[68],"geometry":[70],"even":[72],"semantic":[73],"information,":[74],"they":[75],"cannot":[76],"quantify":[77],"its":[78],"physical":[79],"interaction":[80,126],"robot\u2014a":[83],"capability":[84],"provided":[85],"by":[86],"proprioceptive":[87],"sensing.":[88],"We":[89],"propose":[90],"a":[91,119,136,140],"mapping":[93,152],"framework":[94],"quadruped":[96,147],"estimates":[99],"elevation,":[100],"foot":[101],"slippage,":[102],"energy":[103],"cost,":[104],"stability":[106],"margins":[107],"from":[108,127],"internal":[109],"sensing":[110],"during":[111],"locomotion.":[112],"These":[113],"metrics":[114],"incrementally":[116],"integrated":[117],"into":[118],"multi-layer":[120],"2.5D":[121],"gridmap":[122],"that":[123,138],"reflects":[124],"robot\u2019s":[129],"perspective.":[130],"The":[131],"system":[132],"is":[133],"evaluated":[134],"simulator":[137],"mimics":[139],"environment,":[142],"using":[143],"21":[145],"kg":[146],"robot":[148],"Aliengo,":[149],"showing":[150],"consistent":[151],"performance":[153],"under":[154],"gravity":[156],"conditions.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-10-28T10:33:24.094632","created_date":"2026-03-24T00:00:00"}