{"id":"https://openalex.org/W4404953275","doi":"https://doi.org/10.1109/humanoids58906.2024.10769960","title":"Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region","display_name":"Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4404953275","doi":"https://doi.org/10.1109/humanoids58906.2024.10769960"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids58906.2024.10769960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769960","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd 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/A5070580138","display_name":"Tobias Egle","orcid":"https://orcid.org/0000-0003-1670-9754"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Tobias Egle","raw_affiliation_strings":["TU Wien,Automation and Control Institute,Vienna,Austria,1040"],"affiliations":[{"raw_affiliation_string":"TU Wien,Automation and Control Institute,Vienna,Austria,1040","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113085979","display_name":"Yashuai Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Yashuai Yan","raw_affiliation_strings":["TU Wien,Autonomous Systems Lab,Vienna,Austria,1040"],"affiliations":[{"raw_affiliation_string":"TU Wien,Autonomous Systems Lab,Vienna,Austria,1040","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088081800","display_name":"Dongheui Lee","orcid":"https://orcid.org/0000-0003-1897-7664"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]},{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["AT","DE"],"is_corresponding":false,"raw_author_name":"Dongheui Lee","raw_affiliation_strings":["TU Wien,Autonomous Systems Lab,Vienna,Austria,1040","Institute of Robotics and Mechatronics (DLR), German Aerospace Center, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"TU Wien,Autonomous Systems Lab,Vienna,Austria,1040","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics (DLR), German Aerospace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT","DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["TU Wien,Automation and Control Institute,Vienna,Austria,1040","Institute of Robotics and Mechatronics (DLR), German Aerospace Center, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"TU Wien,Automation and Control Institute,Vienna,Austria,1040","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics (DLR), German Aerospace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070580138"],"corresponding_institution_ids":["https://openalex.org/I145847075"],"apc_list":null,"apc_paid":null,"fwci":0.3919,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.59219025,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"165","last_page":"172"},"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":0.9980999827384949,"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":0.9847999811172485,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7543408870697021},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.704134464263916},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6924892663955688},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.631589412689209},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6098777055740356},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5970408320426941},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5899832844734192},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47742828726768494},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4465470314025879},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.44364961981773376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3062479496002197},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25034910440444946},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1868954598903656},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.10947391390800476}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7543408870697021},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.704134464263916},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6924892663955688},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.631589412689209},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6098777055740356},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5970408320426941},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5899832844734192},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47742828726768494},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4465470314025879},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.44364961981773376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3062479496002197},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25034910440444946},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1868954598903656},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.10947391390800476},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids58906.2024.10769960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769960","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:211799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/Humanoids58906.2024.10769960>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W2074042377","https://openalex.org/W2158782408","https://openalex.org/W2874254091","https://openalex.org/W2890302476","https://openalex.org/W2911251203","https://openalex.org/W3020839343","https://openalex.org/W3106249594","https://openalex.org/W3108412994","https://openalex.org/W3157248223","https://openalex.org/W3176539729","https://openalex.org/W3203901755","https://openalex.org/W3205968186","https://openalex.org/W3207491493","https://openalex.org/W4212766024","https://openalex.org/W4249010688","https://openalex.org/W4281622689","https://openalex.org/W4312606126","https://openalex.org/W4312872827","https://openalex.org/W4385486316","https://openalex.org/W4389666172","https://openalex.org/W4390480921","https://openalex.org/W4390481128","https://openalex.org/W4401416934","https://openalex.org/W4402350775","https://openalex.org/W4403741606","https://openalex.org/W6741002519","https://openalex.org/W6801964084","https://openalex.org/W6837867312","https://openalex.org/W6866023440"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2564804538","https://openalex.org/W1974803039","https://openalex.org/W2026275902","https://openalex.org/W2687915465","https://openalex.org/W3142528978"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,49,72,120,125],"new":[4],"approach":[5],"to":[6,28,48,62,71,98,135],"enhance":[7],"the":[8,65,101,137,141],"robustness":[9],"of":[10,103],"humanoid":[11],"walking":[12,42],"under":[13],"strong":[14],"perturbations,":[15],"such":[16],"as":[17],"substantial":[18],"pushes.":[19,88],"Effective":[20],"recovery":[21],"from":[22],"external":[23],"disturbances":[24],"requires":[25],"bipedal":[26],"robots":[27],"dynamically":[29,63],"adjust":[30,64],"their":[31],"stepping":[32],"strategies,":[33],"including":[34],"footstep":[35,46,67,93,111],"positions":[36,112],"and":[37,77,113,128],"timing.":[38],"Unlike":[39],"most":[40],"advanced":[41],"controllers":[43],"that":[44],"restrict":[45],"locations":[47],"predefined":[50],"convex":[51],"region,":[52,68],"substantially":[53],"limiting":[54],"recoverable":[55,104],"disturbances,":[56],"our":[57,90],"method":[58,91],"leverages":[59],"reinforcement":[60],"learning":[61],"permissible":[66],"expanding":[69],"it":[70],"larger,":[73],"effectively":[74,139],"non-convex":[75],"area":[76],"allowing":[78],"cross-over":[79],"stepping,":[80],"which":[81],"is":[82],"crucial":[83],"for":[84],"counteracting":[85],"large":[86],"lateral":[87],"Additionally,":[89],"adapts":[92],"timing":[94],"in":[95],"real":[96],"time":[97],"further":[99],"extend":[100],"range":[102],"disturbances.":[105],"Based":[106],"on":[107],"these":[108],"adjustments,":[109],"feasible":[110],"DCM":[114,126],"trajectory":[115],"are":[116],"planned":[117],"by":[118],"solving":[119],"QP.":[121],"Finally,":[122],"we":[123],"employ":[124],"controller":[127],"an":[129],"inverse":[130],"dynamics":[131],"whole-body":[132],"control":[133],"framework":[134],"ensure":[136],"robot":[138],"follows":[140],"trajectory.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}