{"id":"https://openalex.org/W4311443585","doi":"https://doi.org/10.1007/978-3-031-21090-7_31","title":"GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model","display_name":"GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model","publication_year":2022,"publication_date":"2022-12-14","ids":{"openalex":"https://openalex.org/W4311443585","doi":"https://doi.org/10.1007/978-3-031-21090-7_31"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-031-21090-7_31","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-21090-7_31","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},"type":"book-chapter","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/A5102887266","display_name":"Zhaoming Xie","orcid":"https://orcid.org/0000-0003-1948-1767"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]},{"id":"https://openalex.org/I2800978909","display_name":"Kelowna General Hospital","ror":"https://ror.org/01j25h453","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I104778310","https://openalex.org/I2800978909"]},{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]},{"id":"https://openalex.org/I4405260628","display_name":"University of British Columbia, Okanagan Campus","ror":"https://ror.org/04241wz75","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490","https://openalex.org/I4405260628"]}],"countries":["CA","US"],"is_corresponding":true,"raw_author_name":"Zhaoming Xie","raw_affiliation_strings":["NVIDIA, Santa Clara, USA","University of British Columbia, Kelowna, Canada"],"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, USA","institution_ids":["https://openalex.org/I4210127875"]},{"raw_affiliation_string":"University of British Columbia, Kelowna, Canada","institution_ids":["https://openalex.org/I2800978909","https://openalex.org/I141945490","https://openalex.org/I4405260628"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082198354","display_name":"Xingye Da","orcid":"https://orcid.org/0000-0003-4439-4980"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xingye Da","raw_affiliation_strings":["NVIDIA, Santa Clara, USA"],"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014223326","display_name":"B. N. Babich","orcid":"https://orcid.org/0000-0002-9252-8747"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Buck Babich","raw_affiliation_strings":["NVIDIA, Santa Clara, USA"],"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061193324","display_name":"Animesh Garg","orcid":"https://orcid.org/0000-0003-0482-4296"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Animesh Garg","raw_affiliation_strings":["NVIDIA, Santa Clara, USA","University of Toronto, Vector Institute, Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, USA","institution_ids":["https://openalex.org/I4210127875"]},{"raw_affiliation_string":"University of Toronto, Vector Institute, Toronto, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052748246","display_name":"Michiel van de Panne","orcid":"https://orcid.org/0000-0002-9123-3672"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]},{"id":"https://openalex.org/I2800978909","display_name":"Kelowna General Hospital","ror":"https://ror.org/01j25h453","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I104778310","https://openalex.org/I2800978909"]},{"id":"https://openalex.org/I4405260628","display_name":"University of British Columbia, Okanagan Campus","ror":"https://ror.org/04241wz75","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490","https://openalex.org/I4405260628"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michiel van de Panne","raw_affiliation_strings":["University of British Columbia, Kelowna, Canada"],"affiliations":[{"raw_affiliation_string":"University of British Columbia, Kelowna, Canada","institution_ids":["https://openalex.org/I2800978909","https://openalex.org/I141945490","https://openalex.org/I4405260628"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102887266"],"corresponding_institution_ids":["https://openalex.org/I141945490","https://openalex.org/I2800978909","https://openalex.org/I4210127875","https://openalex.org/I4405260628"],"apc_list":null,"apc_paid":null,"fwci":25.8405,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.99919963,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"523","last_page":"539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9732000231742859,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9606999754905701,"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/quadrupedalism","display_name":"Quadrupedalism","score":0.7551654577255249},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.6467428803443909},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.6467112302780151},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6026982069015503},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.5761253833770752},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5593807697296143},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5427553653717041},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5202961564064026},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4832504391670227},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4357047975063324},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4139460325241089},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38032329082489014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3267281651496887},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2326899766921997},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1322951316833496},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.13020578026771545}],"concepts":[{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.7551654577255249},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.6467428803443909},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.6467112302780151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6026982069015503},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.5761253833770752},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5593807697296143},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5427553653717041},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5202961564064026},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4832504391670227},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4357047975063324},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4139460325241089},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38032329082489014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3267281651496887},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2326899766921997},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1322951316833496},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.13020578026771545},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-031-21090-7_31","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-21090-7_31","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1945123189","https://openalex.org/W1985875375","https://openalex.org/W2079995373","https://openalex.org/W2161427949","https://openalex.org/W2208576078","https://openalex.org/W2335044248","https://openalex.org/W2784947652","https://openalex.org/W2909331752","https://openalex.org/W2909553221","https://openalex.org/W2911087563","https://openalex.org/W2949658140","https://openalex.org/W2963184939","https://openalex.org/W2963315892","https://openalex.org/W2968151796","https://openalex.org/W2968717280","https://openalex.org/W2969111820","https://openalex.org/W2970971581","https://openalex.org/W2972830116","https://openalex.org/W3003629310","https://openalex.org/W3003817470","https://openalex.org/W3010768390","https://openalex.org/W3011016396","https://openalex.org/W3090207068","https://openalex.org/W3091673899","https://openalex.org/W3093922502","https://openalex.org/W3100238596","https://openalex.org/W3101870171","https://openalex.org/W3102994022","https://openalex.org/W3104876774","https://openalex.org/W3111294788","https://openalex.org/W3112664346","https://openalex.org/W3124944733","https://openalex.org/W3129463014","https://openalex.org/W3134918303","https://openalex.org/W3136437429","https://openalex.org/W3194488868","https://openalex.org/W3203184215","https://openalex.org/W3204973825","https://openalex.org/W3205251784","https://openalex.org/W3205653979","https://openalex.org/W3206338439","https://openalex.org/W3206495137","https://openalex.org/W3206982864","https://openalex.org/W3207078110","https://openalex.org/W3207491493","https://openalex.org/W3207637958","https://openalex.org/W4250589301","https://openalex.org/W6605031968","https://openalex.org/W6814003322"],"related_works":["https://openalex.org/W2206060124","https://openalex.org/W2739593313","https://openalex.org/W2371131212","https://openalex.org/W1580637061","https://openalex.org/W2243669827","https://openalex.org/W13333063","https://openalex.org/W2841879989","https://openalex.org/W3178074323","https://openalex.org/W3080852575","https://openalex.org/W2998534312"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-26T15:22:09.906841","created_date":"2025-10-10T00:00:00"}