{"id":"https://openalex.org/W4401345024","doi":"https://doi.org/10.1007/978-3-031-63596-0_47","title":"Impact of\u00a0Control Frequency on\u00a0Deep RL-Based Torque Controller for\u00a0Bipedal Locomotion","display_name":"Impact of\u00a0Control Frequency on\u00a0Deep RL-Based Torque Controller for\u00a0Bipedal Locomotion","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4401345024","doi":"https://doi.org/10.1007/978-3-031-63596-0_47"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-031-63596-0_47","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-63596-0_47","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":"conference-paper","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/A5058304091","display_name":"Junhyeok Cha","orcid":"https://orcid.org/0009-0009-4679-6407"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Junhyeok Cha","raw_affiliation_strings":["Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I118373667"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100334097","display_name":"Donghyeon Kim","orcid":"https://orcid.org/0000-0002-6882-5899"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghyeon Kim","raw_affiliation_strings":["Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I118373667"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031070386","display_name":"Jaeheung Park","orcid":"https://orcid.org/0000-0002-5062-8264"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]},{"id":"https://openalex.org/I4210120602","display_name":"Advanced Institute of Convergence Technology","ror":"https://ror.org/01w62yz22","country_code":"KR","type":"facility","lineage":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Advanced Institute of Convergence Technology (AICT), Suwon, Republic of Korea","Department of Intelligence and Information, Graduate School of Convergence Science and Technology, ASRI, RICS, AIIS, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Institute of Convergence Technology (AICT), Suwon, Republic of Korea","institution_ids":["https://openalex.org/I4210120602"]},{"raw_affiliation_string":"Department of Intelligence and Information, Graduate School of Convergence Science and Technology, ASRI, RICS, AIIS, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I118373667"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5031070386"],"corresponding_institution_ids":["https://openalex.org/I118373667","https://openalex.org/I4210120602"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"525","last_page":"534"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9980999827384949,"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":0.9965999722480774,"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/control-theory","display_name":"Control theory (sociology)","score":0.7375662922859192},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.49012765288352966},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4819343090057373},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43113529682159424},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42352601885795593},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33582866191864014},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21947765350341797},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12615901231765747},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.12438806891441345},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.05630558729171753}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7375662922859192},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.49012765288352966},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4819343090057373},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43113529682159424},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42352601885795593},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33582866191864014},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21947765350341797},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12615901231765747},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.12438806891441345},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.05630558729171753},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-031-63596-0_47","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-63596-0_47","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":[{"score":0.6899999976158142,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1990119577","https://openalex.org/W2791313415","https://openalex.org/W2888838392","https://openalex.org/W3167801019","https://openalex.org/W3176520080","https://openalex.org/W4383108288","https://openalex.org/W4383109434","https://openalex.org/W4390481291"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W2042776672","https://openalex.org/W4253098096","https://openalex.org/W1973997235","https://openalex.org/W2130288220","https://openalex.org/W2952578757","https://openalex.org/W4394636324"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
