{"id":"https://openalex.org/W4313563020","doi":"https://doi.org/10.1109/humanoids53995.2022.9999741","title":"Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning","display_name":"Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning","publication_year":2022,"publication_date":"2022-11-28","ids":{"openalex":"https://openalex.org/W4313563020","doi":"https://doi.org/10.1109/humanoids53995.2022.9999741"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids53995.2022.9999741","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids53995.2022.9999741","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/A5020195251","display_name":"Ryan Batke","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ryan Batke","raw_affiliation_strings":["Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA"],"affiliations":[{"raw_affiliation_string":"Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017322738","display_name":"Fangzhou Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fangzhou Yu","raw_affiliation_strings":["Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA"],"affiliations":[{"raw_affiliation_string":"Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025328125","display_name":"Jeremy Dao","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeremy Dao","raw_affiliation_strings":["Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA"],"affiliations":[{"raw_affiliation_string":"Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026407792","display_name":"Jonathan Hurst","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Hurst","raw_affiliation_strings":["Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA"],"affiliations":[{"raw_affiliation_string":"Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076997453","display_name":"Ross L. Hatton","orcid":"https://orcid.org/0000-0002-0422-0209"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ross L. Hatton","raw_affiliation_strings":["Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA"],"affiliations":[{"raw_affiliation_string":"Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030052689","display_name":"Alan Fern","orcid":"https://orcid.org/0000-0001-5851-8935"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan Fern","raw_affiliation_strings":["Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA"],"affiliations":[{"raw_affiliation_string":"Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014224596","display_name":"Kevin Green","orcid":"https://orcid.org/0000-0003-3922-4426"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Green","raw_affiliation_strings":["Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA"],"affiliations":[{"raw_affiliation_string":"Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,OR,USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5020195251"],"corresponding_institution_ids":["https://openalex.org/I131249849"],"apc_list":null,"apc_paid":null,"fwci":6.7335,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.98053712,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"714","last_page":"721"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9965000152587891,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.991599977016449,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8362020254135132},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7356525659561157},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6727219223976135},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6602436304092407},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49733975529670715},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4643004536628723},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.45457005500793457},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41714394092559814},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3380308151245117},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11252984404563904}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8362020254135132},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7356525659561157},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6727219223976135},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6602436304092407},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49733975529670715},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4643004536628723},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.45457005500793457},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41714394092559814},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3380308151245117},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11252984404563904},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids53995.2022.9999741","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids53995.2022.9999741","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":[],"awards":[{"id":"https://openalex.org/G5841898675","display_name":null,"funder_award_id":"1314109-DGE,1849343-IIS,1653220-CMMI,1826446-CMMI","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W256081288","https://openalex.org/W1661970104","https://openalex.org/W2017433949","https://openalex.org/W2061983716","https://openalex.org/W2123871098","https://openalex.org/W2138136244","https://openalex.org/W2568656471","https://openalex.org/W2736601468","https://openalex.org/W2909553221","https://openalex.org/W2911087563","https://openalex.org/W2964114602","https://openalex.org/W2968213087","https://openalex.org/W3104876774","https://openalex.org/W3133532447","https://openalex.org/W3136437429","https://openalex.org/W3176539729","https://openalex.org/W3206762371","https://openalex.org/W3209332701","https://openalex.org/W4221164057","https://openalex.org/W4223604247","https://openalex.org/W4230700920","https://openalex.org/W4286233812","https://openalex.org/W4311443585","https://openalex.org/W4378696928","https://openalex.org/W6652809505","https://openalex.org/W6741002519","https://openalex.org/W6749192247","https://openalex.org/W6784209235","https://openalex.org/W6786146360","https://openalex.org/W6795014147","https://openalex.org/W6803225380"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"In":[0],"this":[1,117],"work,":[2],"we":[3,119,176],"propose":[4],"a":[5,34,64,79,121,143,159],"method":[6,68],"to":[7,32,39,45,78,86,111,114,131,154,180,188],"generate":[8],"reduced-order":[9],"model":[10,37,82],"reference":[11,156],"trajectories":[12,43,141,157],"for":[13,20,23,93,107,138,142,158],"general":[14],"classes":[15],"of":[16,42,63,98,103,123,145],"highly":[17,108,146,182],"dynamic":[18,109,147,183],"maneuvers":[19,148],"bipedal":[21,133,171],"robots":[22],"use":[24],"in":[25,59],"sim-to-real":[26],"reinforcement":[27,162],"learning.":[28],"Our":[29],"approach":[30,153],"is":[31],"utilize":[33],"single":[35],"rigid-body":[36],"(SRBM)":[38],"optimize":[40],"libraries":[41],"offline":[44],"be":[46,112],"used":[47],"as":[48,149,151],"expert":[49],"references":[50],"that":[51,126],"guide":[52],"learning":[53,163],"by":[54],"regularizing":[55],"behaviors":[56],"when":[57],"incorporated":[58],"the":[60,70,101,128,170],"reward":[61],"function":[62],"learned":[65],"policy.":[66,164],"This":[67],"translates":[69],"model's":[71],"dynamically":[72],"rich":[73],"rotational":[74],"and":[75,83,96],"translational":[76],"behavior":[77],"full-order":[80],"robot":[81,134,172],"successfully":[84,178],"transfers":[85],"real":[87],"hardware.":[88,115],"The":[89],"SRBM's":[90],"simplicity":[91],"allows":[92,106],"fast":[94],"iteration":[95],"refinement":[97],"behaviors,":[99],"while":[100],"robustness":[102],"learning-based":[104],"controllers":[105],"motions":[110],"transferred":[113],"Within":[116],"work":[118],"introduce":[120],"set":[122],"transferability":[124],"constraints":[125],"amend":[127],"SRBM":[129],"dynamics":[130],"actual":[132],"hardware,":[135],"our":[136,152,167],"framework":[137],"creating":[139],"optimal":[140],"variety":[144],"well":[150],"integrating":[155],"high-speed":[160],"running":[161,185],"We":[165],"validate":[166],"methods":[168],"on":[169,174],"Cassie":[173],"which":[175],"were":[177],"able":[179],"demonstrate":[181],"grounded":[184],"gaits":[186],"up":[187],"3.0":[189],"m/s.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
