{"id":"https://openalex.org/W2093298840","doi":"https://doi.org/10.1109/icra.2014.6907815","title":"Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots","display_name":"Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2093298840","doi":"https://doi.org/10.1109/icra.2014.6907815","mag":"2093298840"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907815","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/185427","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071181618","display_name":"Alexander Winkler","orcid":"https://orcid.org/0000-0003-1839-0855"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["DE","IT"],"is_corresponding":true,"raw_author_name":"Alexander Winkler","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068877998","display_name":"Ioannis Havoutis","orcid":"https://orcid.org/0000-0002-4371-4623"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ioannis Havoutis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031768178","display_name":"St\u00e9phane Bazeille","orcid":"https://orcid.org/0000-0001-9670-9863"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stephane Bazeille","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025925261","display_name":"Jes\u00fas Ortiz","orcid":"https://orcid.org/0000-0001-9475-1945"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jesus Ortiz","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070148842","display_name":"Michele Focchi","orcid":"https://orcid.org/0000-0002-4888-5595"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Michele Focchi","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudiger Dillmann","raw_affiliation_strings":["Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010033061","display_name":"Claudio Semini","orcid":"https://orcid.org/0000-0002-3034-4686"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Semini","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5071181618"],"corresponding_institution_ids":["https://openalex.org/I102335020","https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":4.7884,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.95246189,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6476","last_page":"6482"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9936000108718872,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9865000247955322,"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/robustness","display_name":"Robustness (evolution)","score":0.6672192215919495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6624372005462646},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6117797493934631},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5983908176422119},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5961310267448425},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5467190146446228},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5428507328033447},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.448527455329895},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4195922315120697},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3800753951072693},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3404325246810913},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27138859033584595},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24906766414642334}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6672192215919495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6624372005462646},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6117797493934631},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5983908176422119},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5961310267448425},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5467190146446228},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5428507328033447},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.448527455329895},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4195922315120697},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3800753951072693},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3404325246810913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27138859033584595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24906766414642334},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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":4,"locations":[{"id":"doi:10.1109/icra.2014.6907815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907815","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unitn.it:11572/365107","is_oa":false,"landing_page_url":"https://hdl.handle.net/11572/365107","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/185427","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/185427","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-b-000185427","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000185427","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/185427","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/185427","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1965603550","https://openalex.org/W1973546417","https://openalex.org/W1987648924","https://openalex.org/W1997291838","https://openalex.org/W2005805981","https://openalex.org/W2035129500","https://openalex.org/W2086587468","https://openalex.org/W2089359955","https://openalex.org/W2091829036","https://openalex.org/W2094444216","https://openalex.org/W2095593876","https://openalex.org/W2104588723","https://openalex.org/W2107955862","https://openalex.org/W2111904757","https://openalex.org/W2144587497","https://openalex.org/W2154139861","https://openalex.org/W2161427949","https://openalex.org/W2169528473","https://openalex.org/W2172037318","https://openalex.org/W2296360731","https://openalex.org/W2334471582","https://openalex.org/W4241459016","https://openalex.org/W6674723763","https://openalex.org/W6676345572","https://openalex.org/W6682479552","https://openalex.org/W6822935082"],"related_works":["https://openalex.org/W1496222301","https://openalex.org/W3207760230","https://openalex.org/W1590307681","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703","https://openalex.org/W41015297","https://openalex.org/W4285089922"],"abstract_inverted_index":{"We":[0,25,138],"present":[1],"a":[2,27,112,146,165],"framework":[3],"for":[4,19],"quadrupedal":[5],"locomotion":[6],"over":[7],"highly":[8,127],"challenging":[9],"terrain":[10],"where":[11],"the":[12,20,23,36,39,66,71,75,81,91,104,118,140,157],"choice":[13],"of":[14,22,38,74,84,143,161,167,170],"appropriate":[15],"footholds":[16],"is":[17,96],"crucial":[18],"success":[21],"behaviour.":[24],"use":[26,111],"path":[28,106],"planning":[29],"approach":[30,163],"which":[31],"shares":[32],"many":[33],"similarities":[34],"with":[35,90,126],"results":[37],"DARPA":[40],"Learning":[41],"Locomotion":[42],"challenge":[43],"and":[44,51,102,155,159],"extend":[45],"it":[46],"to":[47,70,87],"allow":[48,122],"more":[49],"flexibility":[50,158],"increased":[52,123],"robustness.":[53],"During":[54],"execution":[55],"we":[56,79,110],"incorporate":[57],"an":[58,131],"on-line":[59],"force-based":[60],"foothold":[61],"adaptation":[62],"mechanism":[63],"that":[64,116,121,145],"updates":[65],"planned":[67,105],"motion":[68],"according":[69],"perceived":[72,98],"state":[73],"environment.":[76],"This":[77],"way":[78],"exploit":[80],"active":[82],"compliance":[83],"our":[85,162],"system":[86],"smoothly":[88],"interact":[89],"environment,":[92],"even":[93],"when":[94],"this":[95],"inaccurately":[97],"or":[99],"dynamically":[100],"changing,":[101],"update":[103],"on-the-fly.":[107],"In":[108],"tandem":[109],"virtual":[113],"model":[114],"controller":[115],"provides":[117],"feed-forward":[119],"torques":[120],"accuracy":[124],"together":[125],"compliant":[128],"behaviour":[129],"on":[130,164],"otherwise":[132],"naturally":[133],"very":[134],"stiff":[135],"robotic":[136],"system.":[137],"leverage":[139],"full":[141],"set":[142,166],"benefits":[144],"high":[147],"performance":[148],"torque":[149],"controlled":[150],"quadruped":[151],"robot":[152],"can":[153],"provide":[154],"demonstrate":[156],"robustness":[160],"experimental":[168],"trials":[169],"increasing":[171],"difficulty.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":12}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}