{"id":"https://openalex.org/W4390481019","doi":"https://doi.org/10.1109/humanoids57100.2023.10375167","title":"Learning Gait-conditioned Bipedal Locomotion with Motor Adaptation<sup>*</sup>","display_name":"Learning Gait-conditioned Bipedal Locomotion with Motor Adaptation<sup>*</sup>","publication_year":2023,"publication_date":"2023-12-12","ids":{"openalex":"https://openalex.org/W4390481019","doi":"https://doi.org/10.1109/humanoids57100.2023.10375167"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids57100.2023.10375167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375167","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd 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/A5000193887","display_name":"Wandi Wei","orcid":"https://orcid.org/0000-0002-0199-9317"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wandi Wei","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,Hangzhou,China","Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087212921","display_name":"Zhicheng Wang","orcid":"https://orcid.org/0000-0002-2657-7591"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhicheng Wang","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,Hangzhou,China","Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032102869","display_name":"Anhuan Xie","orcid":"https://orcid.org/0000-0002-8348-0067"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anhuan Xie","raw_affiliation_strings":["Zhejiang Lab,Hangzhou,China","Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078485305","display_name":"Jun Wu","orcid":"https://orcid.org/0000-0002-0468-8610"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Wu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,Hangzhou,China","Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","State Key Laboratory of Industrial Control Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,Hangzhou,China","State Key Laboratory of Industrial Control Technology, Hangzhou, China","Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]},{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059414395","display_name":"Qiuguo Zhu","orcid":"https://orcid.org/0000-0002-4965-5126"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuguo Zhu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,Hangzhou,China","State Key Laboratory of Industrial Control Technology, Hangzhou, China","Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]},{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5000193887"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":1.5564,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.82043145,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9912999868392944,"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":0.9815000295639038,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7859096527099609},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7371437549591064},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6818057894706726},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6320719122886658},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.619157612323761},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5987134575843811},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5770841240882874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5703133344650269},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5682714581489563},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5520511269569397},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38286542892456055},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3787844479084015},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3232991695404053},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2756616473197937},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2679353356361389},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.08189424872398376},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07043254375457764}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7859096527099609},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7371437549591064},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6818057894706726},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6320719122886658},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.619157612323761},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5987134575843811},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5770841240882874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5703133344650269},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5682714581489563},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5520511269569397},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38286542892456055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3787844479084015},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3232991695404053},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2756616473197937},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2679353356361389},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.08189424872398376},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07043254375457764},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/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/humanoids57100.2023.10375167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375167","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1968106150","https://openalex.org/W2161427949","https://openalex.org/W2169216879","https://openalex.org/W2736601468","https://openalex.org/W2779458783","https://openalex.org/W2911087563","https://openalex.org/W2968774764","https://openalex.org/W2972798201","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3175254947","https://openalex.org/W3176539729","https://openalex.org/W3206762371","https://openalex.org/W4205430897","https://openalex.org/W4283787029","https://openalex.org/W4303856597","https://openalex.org/W4312245572","https://openalex.org/W4312405101","https://openalex.org/W4312423130","https://openalex.org/W4312606126","https://openalex.org/W4313563129","https://openalex.org/W4313598692","https://openalex.org/W4383108196","https://openalex.org/W6741002519","https://openalex.org/W6766978945","https://openalex.org/W6846664724","https://openalex.org/W6847063038"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W4294690775","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W3180160681","https://openalex.org/W1567230752","https://openalex.org/W1600238263","https://openalex.org/W2805865429"],"abstract_inverted_index":{"Whole":[0],"body":[1,16,76],"locomotion":[2,43,62,77],"in":[3,57,72,98,106],"humanoid":[4,42,69],"robots":[5],"remains":[6],"a":[7,40,73],"significant":[8],"challenge":[9],"due":[10],"to":[11,26,29,48,67,96],"the":[12,55,68,94],"requirement":[13],"of":[14],"whole":[15,75],"coordination,":[17],"natural":[18],"bipedal":[19],"walking":[20],"gait,":[21],"and":[22,32,50,64,102,112],"accurate":[23],"state":[24],"estimation":[25],"enable":[27],"them":[28,66],"traverse":[30],"plain":[31],"uneven":[33,51],"terrain.":[34,52],"In":[35,87],"this":[36],"paper,":[37],"we":[38],"propose":[39],"learning-based":[41],"controller":[44],"that":[45],"can":[46],"adapt":[47],"disturbance":[49],"We":[53],"leverage":[54],"advances":[56],"rapid":[58],"adaptation":[59],"for":[60],"quadruped":[61],"control,":[63],"expend":[65],"robots,":[70],"resulting":[71],"well-performed":[74],"policy,":[78],"gait-conditioned":[79],"RMA":[80],"without":[81],"any":[82],"reference":[83],"trajectory":[84],"during":[85],"training.":[86],"simulation":[88],"test,":[89],"our":[90],"trained":[91],"policy":[92],"demonstrates":[93],"ability":[95],"generalize":[97],"unseen":[99],"turning":[100],"tasks":[101],"showcases":[103],"its":[104],"robustness":[105],"more":[107],"complex":[108],"environment":[109],"include":[110],"hill":[111],"steps.":[113]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
