{"id":"https://openalex.org/W2788200022","doi":"https://doi.org/10.1109/icra.2018.8460731","title":"Robust Rough-Terrain Locomotion with a Quadrupedal Robot","display_name":"Robust Rough-Terrain Locomotion with a Quadrupedal Robot","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2788200022","doi":"https://doi.org/10.1109/icra.2018.8460731","mag":"2788200022"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/244079","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061972919","display_name":"P\u00e9ter Fankhauser","orcid":"https://orcid.org/0000-0002-1311-4010"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Peter Fankhauser","raw_affiliation_strings":["Robotics Systems Lab (RSL), ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Systems Lab (RSL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020694820","display_name":"Marko Bjelonic","orcid":"https://orcid.org/0000-0002-9123-3920"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marko Bjelonic","raw_affiliation_strings":["Robotics Systems Lab (RSL), ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Systems Lab (RSL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000837610","display_name":"C. Dario Bellicoso","orcid":"https://orcid.org/0000-0003-3856-0735"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"C. Dario Bellicoso","raw_affiliation_strings":["Robotics Systems Lab (RSL), ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Systems Lab (RSL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016407319","display_name":"Takahiro Miki","orcid":"https://orcid.org/0000-0001-8556-2819"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Takahiro Miki","raw_affiliation_strings":["Robotics Systems Lab (RSL), ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Systems Lab (RSL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotics Systems Lab (RSL), ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Systems Lab (RSL), ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":202,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5761","last_page":"5768"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8294991254806519},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.694177508354187},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.6678774356842041},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.6605468988418579},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6543828248977661},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.569603443145752},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5570296049118042},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5279725193977356},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5176580548286438},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5106142163276672},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4742107689380646},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4649708569049835},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4090663194656372},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.40674346685409546},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2597229480743408},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08162248134613037}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8294991254806519},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.694177508354187},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6678774356842041},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.6605468988418579},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6543828248977661},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.569603443145752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5570296049118042},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5279725193977356},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5176580548286438},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5106142163276672},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4742107689380646},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4649708569049835},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4090663194656372},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.40674346685409546},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2597229480743408},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08162248134613037},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2018.8460731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/244079","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/244079","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":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/333821","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/333821","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":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-b-000244079","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000244079","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","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":"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:20.500.11850/244079","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/244079","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":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.8199999928474426,"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":31,"referenced_works":["https://openalex.org/W1518641734","https://openalex.org/W1592294156","https://openalex.org/W1953793983","https://openalex.org/W1965603550","https://openalex.org/W1977995507","https://openalex.org/W2005805981","https://openalex.org/W2073288601","https://openalex.org/W2091829036","https://openalex.org/W2101207292","https://openalex.org/W2139710904","https://openalex.org/W2144587497","https://openalex.org/W2150628115","https://openalex.org/W2154139861","https://openalex.org/W2161819990","https://openalex.org/W2167387804","https://openalex.org/W2548802954","https://openalex.org/W2549216668","https://openalex.org/W2738799195","https://openalex.org/W2746481701","https://openalex.org/W2755469532","https://openalex.org/W2888398732","https://openalex.org/W3084365688","https://openalex.org/W3099855898","https://openalex.org/W4250058668","https://openalex.org/W6641425015","https://openalex.org/W6668816458","https://openalex.org/W6680809169","https://openalex.org/W6681133838","https://openalex.org/W6682042928","https://openalex.org/W6684459730","https://openalex.org/W6728915040"],"related_works":["https://openalex.org/W4313443430","https://openalex.org/W1976773072","https://openalex.org/W4250087872","https://openalex.org/W2314684457","https://openalex.org/W4295023771","https://openalex.org/W2199578125","https://openalex.org/W2139139490","https://openalex.org/W2517926463","https://openalex.org/W2283275227","https://openalex.org/W2168918646"],"abstract_inverted_index":{"Robots":[0],"working":[1],"in":[2,121],"natural,":[3],"urban,":[4],"and":[5,84,99,111,117],"industrial":[6],"settings":[7],"need":[8],"to":[9,12,62,95],"be":[10],"able":[11],"navigate":[13],"challenging":[14],"environments.":[15,101],"In":[16],"this":[17,49],"paper,":[18],"we":[19,51],"present":[20,52],"a":[21,53],"motion":[22,91],"planner":[23,33,88],"for":[24],"the":[25,60,73,90,109,124],"perceptive":[26],"rough-terrain":[27],"locomotion":[28,87],"with":[29,38,72,97],"quadrupedal":[30,74],"robots.":[31],"The":[32,86,102],"finds":[34],"safe":[35],"footholds":[36],"along":[37],"collision-free":[39],"swing-leg":[40],"motions":[41],"by":[42,77],"leveraging":[43],"an":[44],"acquired":[45],"terrain":[46],"map.":[47],"To":[48],"end,":[50],"novel":[54],"pose":[55],"optimization":[56],"approach":[57,71],"that":[58],"enables":[59],"robot":[61,75,103],"climb":[63],"over":[64],"significant":[65],"obstacles.":[66],"We":[67],"experimentally":[68],"validate":[69],"our":[70],"ANYmal":[76],"autonomously":[78],"traversing":[79],"obstacles":[80],"such":[81],"steps,":[82],"inclines,":[83],"stairs.":[85],"re-plans":[89],"at":[92],"every":[93],"step":[94],"cope":[96],"disturbances":[98],"dynamic":[100],"has":[104],"no":[105],"prior":[106],"knowledge":[107],"of":[108],"scene,":[110],"all":[112],"mapping,":[113],"state":[114],"estimation,":[115],"control,":[116],"planning":[118],"is":[119],"performed":[120],"real-time":[122],"onboard":[123],"robot.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":31},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":27},{"year":2022,"cited_by_count":32},{"year":2021,"cited_by_count":29},{"year":2020,"cited_by_count":27},{"year":2019,"cited_by_count":24},{"year":2018,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
