{"id":"https://openalex.org/W4313562933","doi":"https://doi.org/10.1109/humanoids53995.2022.10000180","title":"TDE2-MBRL: Energy-exchange Dynamics Learning with Task Decomposition for Spring-loaded Bipedal Robot Locomotion","display_name":"TDE2-MBRL: Energy-exchange Dynamics Learning with Task Decomposition for Spring-loaded Bipedal Robot Locomotion","publication_year":2022,"publication_date":"2022-11-28","ids":{"openalex":"https://openalex.org/W4313562933","doi":"https://doi.org/10.1109/humanoids53995.2022.10000180"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids53995.2022.10000180","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids53995.2022.10000180","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"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/A5070668609","display_name":"Cheng-Yu Kuo","orcid":"https://orcid.org/0000-0002-3085-0343"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Cheng-Yu Kuo","raw_affiliation_strings":["Graduated School of Science and Technology, Nara Institute of Science and Technology,Nara,Japan","Graduated School of Science and Technology, Nara Institute of Science and Technology, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Graduated School of Science and Technology, Nara Institute of Science and Technology,Nara,Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduated School of Science and Technology, Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079727582","display_name":"Hirofumi Shin","orcid":"https://orcid.org/0000-0003-0265-3710"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hirofumi Shin","raw_affiliation_strings":["Honda R&D Co., Ltd.,Saitama,Japan"],"affiliations":[{"raw_affiliation_string":"Honda R&D Co., Ltd.,Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026888217","display_name":"Takumi Kamioka","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takumi Kamioka","raw_affiliation_strings":["Honda R&D Co., Ltd.,Saitama,Japan"],"affiliations":[{"raw_affiliation_string":"Honda R&D Co., Ltd.,Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042074952","display_name":"Takamitsu Matsubara","orcid":"https://orcid.org/0000-0003-3545-4814"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takamitsu Matsubara","raw_affiliation_strings":["Graduated School of Science and Technology, Nara Institute of Science and Technology,Nara,Japan","Graduated School of Science and Technology, Nara Institute of Science and Technology, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Graduated School of Science and Technology, Nara Institute of Science and Technology,Nara,Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduated School of Science and Technology, Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070668609"],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":0.2079,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.45108813,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"84","issue":null,"first_page":"550","last_page":"557"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.998199999332428,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.644957423210144},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6244406700134277},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6224611401557922},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.4571620523929596},{"id":"https://openalex.org/keywords/energy-exchange","display_name":"Energy exchange","score":0.4545305669307709},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4265054166316986},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.42029401659965515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4101752042770386},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3867078125476837},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22943738102912903},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17032355070114136},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09267419576644897},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07970935106277466}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.644957423210144},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6244406700134277},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6224611401557922},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.4571620523929596},{"id":"https://openalex.org/C2986766689","wikidata":"https://www.wikidata.org/wiki/Q676081","display_name":"Energy exchange","level":2,"score":0.4545305669307709},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4265054166316986},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.42029401659965515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4101752042770386},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3867078125476837},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22943738102912903},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17032355070114136},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09267419576644897},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07970935106277466},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C91586092","wikidata":"https://www.wikidata.org/wiki/Q757520","display_name":"Atmospheric sciences","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids53995.2022.10000180","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids53995.2022.10000180","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1657213141","https://openalex.org/W1978347628","https://openalex.org/W1978956894","https://openalex.org/W1981918565","https://openalex.org/W2055426866","https://openalex.org/W2158782408","https://openalex.org/W2415959992","https://openalex.org/W2418467170","https://openalex.org/W2559959938","https://openalex.org/W2580909119","https://openalex.org/W2782854956","https://openalex.org/W2883488766","https://openalex.org/W2964114602","https://openalex.org/W2967793392","https://openalex.org/W2980301669","https://openalex.org/W3003660171","https://openalex.org/W3091094690","https://openalex.org/W3136025385","https://openalex.org/W3136437429","https://openalex.org/W3206762371","https://openalex.org/W3207171807","https://openalex.org/W4206679659","https://openalex.org/W4285102540","https://openalex.org/W4287690578","https://openalex.org/W6677614981","https://openalex.org/W6680657880","https://openalex.org/W6740033195","https://openalex.org/W6786828652"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2350715914","https://openalex.org/W2101175215","https://openalex.org/W2379529020","https://openalex.org/W2120821724","https://openalex.org/W2893549521","https://openalex.org/W2352322616","https://openalex.org/W2124140241","https://openalex.org/W2574438335"],"abstract_inverted_index":{"Spring-loaded":[0],"Inverted":[1],"Pendulum":[2],"(SLIP)":[3],"inspired":[4],"bipedal":[5],"robots":[6],"(SLIP-biped)":[7],"have":[8],"high":[9,27,59,71],"agility":[10],"owing":[11],"to":[12,52,88,108,130,144,184],"their":[13],"fault":[14],"tolerance":[15],"under":[16,119],"impacts.":[17],"Controlling":[18],"a":[19,35,42,54,70,76,86,100,158,164],"SLIP-biped":[20,83,111,138,161],"requires":[21,66],"capturing":[22],"its":[23,26],"dynamics;":[24],"however,":[25],"complexity":[28,60],"makes":[29],"analytic":[30],"method":[31],"implementation":[32,94],"challenging.":[33],"Thus,":[34],"Model-based":[36],"Reinforcement":[37],"Learning":[38],"(MBRL)":[39],"that":[40,171],"learns":[41],"dynamics":[43,61,80,103,112,139,147],"model":[44,81,126,182],"and":[45,78,95,113,176],"utilizes":[46],"it":[47],"for":[48,82,116],"control":[49,177],"design":[50],"appears":[51],"be":[53,85],"reasonable":[55],"alternative.":[56],"Nevertheless,":[57],"modeling":[58],"with":[62,105,146,157],"conventional":[63],"MBRL":[64,93,106],"approaches":[65],"enormous":[67],"samples":[68],"or":[69],"computation":[72],"load.":[73],"Therefore,":[74],"exploring":[75],"simplified":[77,110],"compact":[79],"would":[84],"key":[87],"increasing":[89],"the":[90,120,127,137,185],"feasibility":[91],"of":[92,122,163],"real-time":[96],"control.":[97,117],"We":[98],"propose":[99],"Task-Decomposed":[101],"Energy-exchange":[102],"learning":[104,174],"(TDE2-MBRL)":[107],"capture":[109],"utilize":[114],"them":[115],"Specifically,":[118],"law":[121],"energy":[123,128],"conservation,":[124],"we":[125,135],"exchange":[129],"reduce":[131],"dynamics'":[132],"dimensionality.":[133],"Next,":[134],"decompose":[136],"into":[140],"locomotion":[141],"task":[142],"phases":[143],"cope":[145],"dissimilarity.":[148],"The":[149,167],"effectiveness":[150],"is":[151],"demonstrated":[152],"by":[153],"hopping":[154],"skill":[155],"acquisition":[156],"precise":[159],"simulated":[160],"replica":[162],"real":[165],"SLIP-biped.":[166],"experiment":[168],"results":[169],"show":[170],"TDE2-MBRL":[172],"improves":[173],"efficiency":[175],"frequency":[178],"while":[179],"having":[180],"comparable":[181],"accuracy":[183],"standard":[186],"MBRL.":[187]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}