{"id":"https://openalex.org/W2411824964","doi":"https://doi.org/10.1109/icra.2016.7487541","title":"Robot locomotion on hard and soft ground: Measuring stability and ground properties in-situ","display_name":"Robot locomotion on hard and soft ground: Measuring stability and ground properties in-situ","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2411824964","doi":"https://doi.org/10.1109/icra.2016.7487541","mag":"2411824964"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487541","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5001077437","display_name":"Will Bosworth","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Will Bosworth","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048591881","display_name":"Jonas Whitney","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jonas Whitney","raw_affiliation_strings":["The Department of Electrical Engineering and Computer Science, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Electrical Engineering and Computer Science, MIT","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112008455","display_name":"Neville Hogan","orcid":"https://orcid.org/0000-0001-5366-2145"},"institutions":[{"id":"https://openalex.org/I4210104429","display_name":"Institute of Cognitive and Brain Sciences","ror":"https://ror.org/01c3w3270","country_code":"US","type":"education","lineage":["https://openalex.org/I4210104429"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neville Hogan","raw_affiliation_strings":["The Department of Brain and Cognitive Science, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Brain and Cognitive Science, MIT","institution_ids":["https://openalex.org/I4210104429"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9255,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.85175093,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3582","last_page":"3589"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9934999942779541,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9836999773979187,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/robot","display_name":"Robot","score":0.7337151765823364},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6140941381454468},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.49849414825439453},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.494373083114624},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4786418676376343},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.45638564229011536},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4333404004573822},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4302995502948761},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4300767481327057},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41141635179519653},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35627037286758423},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3279435932636261},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19932183623313904},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16458478569984436},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13892942667007446},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1329648792743683},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.11357659101486206},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10348692536354065},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07682532072067261}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7337151765823364},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6140941381454468},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.49849414825439453},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.494373083114624},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4786418676376343},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.45638564229011536},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4333404004573822},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4302995502948761},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4300767481327057},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41141635179519653},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35627037286758423},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3279435932636261},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19932183623313904},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16458478569984436},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13892942667007446},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1329648792743683},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.11357659101486206},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10348692536354065},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07682532072067261},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487541","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W276848478","https://openalex.org/W1822001265","https://openalex.org/W1964277571","https://openalex.org/W1969366849","https://openalex.org/W1977753016","https://openalex.org/W1980780059","https://openalex.org/W1982880998","https://openalex.org/W1988763687","https://openalex.org/W1993314711","https://openalex.org/W2003013030","https://openalex.org/W2017724026","https://openalex.org/W2024084391","https://openalex.org/W2027179330","https://openalex.org/W2043709302","https://openalex.org/W2045527384","https://openalex.org/W2055346300","https://openalex.org/W2086587468","https://openalex.org/W2088694157","https://openalex.org/W2094496385","https://openalex.org/W2096036324","https://openalex.org/W2098300814","https://openalex.org/W2107063036","https://openalex.org/W2111253117","https://openalex.org/W2111904757","https://openalex.org/W2116528556","https://openalex.org/W2139612757","https://openalex.org/W2146139464","https://openalex.org/W2152526632","https://openalex.org/W2157822824","https://openalex.org/W2161427949","https://openalex.org/W2288146251","https://openalex.org/W2314684457","https://openalex.org/W4250087872","https://openalex.org/W4253394173","https://openalex.org/W6677597315","https://openalex.org/W6696529113"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W2107591285","https://openalex.org/W2144587497","https://openalex.org/W2911925666","https://openalex.org/W2010185804","https://openalex.org/W2153315991","https://openalex.org/W2011961034","https://openalex.org/W2519500333"],"abstract_inverted_index":{"Dynamic":[0],"behavior":[1],"of":[2,13,35,67,70,88,148],"legged":[3],"robots":[4],"is":[5,16,24],"strongly":[6],"affected":[7],"by":[8,78,125],"ground":[9,19,94,111,120,142],"impedance.":[10],"Empirical":[11],"observation":[12],"robot":[14,41,72,80,90,117],"hardware":[15],"needed":[17],"because":[18],"impedance":[20],"and":[21,45,83,122,140,155],"foot-ground":[22],"interaction":[23,129],"challenging":[25],"to":[26,75,100],"predict":[27],"in":[28,73,106,137],"simulation.":[29],"This":[30],"paper":[31],"presents":[32],"experimental":[33],"data":[34],"the":[36,71,79,85,89,116,131],"MIT":[37],"Super":[38],"Mini":[39],"Cheetah":[40],"hopping":[42],"on":[43,109],"hard":[44,154],"soft":[46,156],"ground.":[47,132,157],"We":[48],"show":[49,114,145],"that":[50,91,115,151],"controllers":[51],"tuned":[52],"for":[53,58],"each":[54,59],"surface":[55,61],"perform":[56],"better":[57],"specific":[60],"type,":[62],"assessing":[63],"performance":[64],"using":[65],"measurements":[66],"1.)":[68],"stability":[69],"response":[74],"self-disturbances":[76],"applied":[77],"onto":[81],"itself":[82],"2.)":[84],"peak":[86],"accelerations":[87],"occur":[92],"during":[93],"impact,":[95],"which":[96],"should":[97],"be":[98],"minimized":[99],"reduce":[101],"mechanical":[102],"stress.":[103],"To":[104,133],"aid":[105],"controller":[107],"selection":[108],"different":[110],"types,":[112],"we":[113,144],"can":[118],"measure":[119],"stiffness":[121],"friction":[123],"in-situ":[124,141],"measuring":[126],"its":[127],"own":[128],"with":[130],"motivate":[134],"future":[135],"work":[136],"variable-terrain":[138],"control":[139],"measurement,":[143],"preliminary":[146],"results":[147],"running":[149],"gaits":[150],"transition":[152],"between":[153]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}