{"id":"https://openalex.org/W4383108469","doi":"https://doi.org/10.1109/icra48891.2023.10161515","title":"Multi-segmented Adaptive Feet for Versatile Legged Locomotion in Natural Terrain","display_name":"Multi-segmented Adaptive Feet for Versatile Legged Locomotion in Natural Terrain","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108469","doi":"https://doi.org/10.1109/icra48891.2023.10161515"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161515","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/retrieve/7270a894-1fd7-46fe-9936-6df8afe04b63","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077667153","display_name":"Abhishek Chatterjee","orcid":"https://orcid.org/0000-0002-7297-941X"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abhishek Chatterjee","raw_affiliation_strings":["Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems,Stuttgart,Germany","Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems,Stuttgart,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022726282","display_name":"An Mo","orcid":"https://orcid.org/0000-0001-5870-3209"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"An Mo","raw_affiliation_strings":["Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems,Stuttgart,Germany","Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems,Stuttgart,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055240024","display_name":"Bernadett Kiss","orcid":"https://orcid.org/0000-0002-7187-5256"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bernadett Kiss","raw_affiliation_strings":["Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems,Stuttgart,Germany","Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems,Stuttgart,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049770980","display_name":"Emre Cemal Gonen","orcid":"https://orcid.org/0000-0001-7434-8649"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Emre Cemal G\u00f6nen","raw_affiliation_strings":["Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems,Stuttgart,Germany","Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems,Stuttgart,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074721771","display_name":"Alexander Badri\u2013Spr\u00f6witz","orcid":"https://orcid.org/0000-0002-3864-7307"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","DE"],"is_corresponding":false,"raw_author_name":"Alexander Badri-Spr\u00f6witz","raw_affiliation_strings":["Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems,Stuttgart,Germany","Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","Department of Mechanical Engineering, KU Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems,Stuttgart,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8124,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.68431303,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1162","last_page":"1169"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9825000166893005,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.954200029373169,"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/terrain","display_name":"Terrain","score":0.7929301261901855},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7133438587188721},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.5984249114990234},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.559349536895752},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5209178328514099},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.46006739139556885},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.44186562299728394},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3678702116012573},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3654850125312805},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3641413748264313},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3402683138847351},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3260052800178528},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.24561667442321777},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.16377967596054077},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07923159003257751},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07489877939224243}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7929301261901855},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7133438587188721},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.5984249114990234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.559349536895752},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5209178328514099},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.46006739139556885},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.44186562299728394},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3678702116012573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3654850125312805},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3641413748264313},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3402683138847351},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3260052800178528},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.24561667442321777},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.16377967596054077},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07923159003257751},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07489877939224243},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10161515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161515","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/717204","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/717204","pdf_url":"https://lirias.kuleuven.be/retrieve/7270a894-1fd7-46fe-9936-6df8afe04b63","source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"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":"ICRA 2023, London, UK, 30 May - 2 June 2023","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/717204","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/717204","pdf_url":"https://lirias.kuleuven.be/retrieve/7270a894-1fd7-46fe-9936-6df8afe04b63","source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"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":"ICRA 2023, London, UK, 30 May - 2 June 2023","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1088699031","display_name":"EcoWalk  Biorobotische Analyse des Zusammenspiels von Fu\u00df und Bein im menschlichen Gehen","funder_award_id":"449427815","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G7871917341","display_name":"Einstellbare muskul\u00e4re D\u00e4mpfung zur Erh\u00f6hung von \u2019morphological computation\u2019 bei der Fortbewegung mit Beinen","funder_award_id":"449912641","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320317967","display_name":"International Max Planck Research School for Environmental, Cellular and Molecular Microbiology","ror":null},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320322434","display_name":"Max-Planck-Gesellschaft","ror":"https://ror.org/01hhn8329"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320327553","display_name":"International Max Planck Research School for Advanced Methods in Process and Systems Engineering","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4383108469.pdf"},"referenced_works_count":65,"referenced_works":["https://openalex.org/W62740123","https://openalex.org/W1791572069","https://openalex.org/W1964452431","https://openalex.org/W1974461875","https://openalex.org/W1981225035","https://openalex.org/W1992878443","https://openalex.org/W2001180026","https://openalex.org/W2001793234","https://openalex.org/W2011833614","https://openalex.org/W2012104262","https://openalex.org/W2019011448","https://openalex.org/W2030052031","https://openalex.org/W2076626974","https://openalex.org/W2078436852","https://openalex.org/W2094496385","https://openalex.org/W2095481616","https://openalex.org/W2099540110","https://openalex.org/W2118892728","https://openalex.org/W2131213634","https://openalex.org/W2141223672","https://openalex.org/W2153571005","https://openalex.org/W2157822824","https://openalex.org/W2157987910","https://openalex.org/W2197422560","https://openalex.org/W2212667385","https://openalex.org/W2231780113","https://openalex.org/W2303829726","https://openalex.org/W2411824964","https://openalex.org/W2415959992","https://openalex.org/W2480989714","https://openalex.org/W2510188544","https://openalex.org/W2526025323","https://openalex.org/W2562249655","https://openalex.org/W2586362044","https://openalex.org/W2607187241","https://openalex.org/W2619240081","https://openalex.org/W2787690100","https://openalex.org/W2790977983","https://openalex.org/W2792472204","https://openalex.org/W2802719471","https://openalex.org/W2884226777","https://openalex.org/W2896988922","https://openalex.org/W2910066306","https://openalex.org/W2964618676","https://openalex.org/W2968213087","https://openalex.org/W2977389550","https://openalex.org/W3007035358","https://openalex.org/W3039037131","https://openalex.org/W3090251570","https://openalex.org/W3093922502","https://openalex.org/W3104537609","https://openalex.org/W3104876774","https://openalex.org/W3171346368","https://openalex.org/W3179875431","https://openalex.org/W3217370814","https://openalex.org/W4206520620","https://openalex.org/W4220868119","https://openalex.org/W4292852771","https://openalex.org/W4313047238","https://openalex.org/W6602549225","https://openalex.org/W6687915076","https://openalex.org/W6727841070","https://openalex.org/W6733076229","https://openalex.org/W6765964473","https://openalex.org/W6807017690"],"related_works":["https://openalex.org/W2021443280","https://openalex.org/W3141131632","https://openalex.org/W2340042223","https://openalex.org/W2084206618","https://openalex.org/W2161039994","https://openalex.org/W3167844684","https://openalex.org/W4386154653","https://openalex.org/W2800387041","https://openalex.org/W3017142507","https://openalex.org/W4389155065"],"abstract_inverted_index":{"Most":[0],"legged":[1],"robots":[2,143],"are":[3,15],"built":[4],"with":[5,43,76],"leg":[6,75],"structures":[7],"from":[8],"serially":[9],"mounted":[10,70],"links":[11],"and":[12,14,20,33,57,83,96,117,146],"actuators":[13],"controlled":[16],"through":[17],"complex":[18],"controllers":[19],"sensor":[21],"feedback.":[22],"In":[23],"comparison,":[24],"animals":[25,160],"developed":[26],"multi-segment":[27,68],"legs,":[28],"mechanical":[29,78],"coupling":[30],"between":[31],"joints,":[32],"multi-segmented":[34,122],"feet.":[35],"They":[36],"run":[37],"agile":[38],"over":[39],"all":[40],"terrains,":[41],"arguably":[42],"simpler":[44],"locomotion":[45],"control.":[46],"Here":[47],"we":[48],"focus":[49],"on":[50,93,111,144],"developing":[51],"foot":[52],"mechanisms":[53],"that":[54,106],"resist":[55],"slipping":[56],"sinking":[58,110],"also":[59,104,140,151],"in":[60,159],"natural":[61,147],"terrain.":[62,148],"We":[63,103,119],"present":[64],"first":[65],"results":[66,150],"of":[67,128,131,156],"feet":[69,87,108,123,158],"to":[71,101,115],"a":[72,125,153],"bird-inspired":[73],"robot":[74],"multi-joint":[77],"tendon":[79],"coupling.":[80],"Our":[81,149],"one-":[82],"two-segment,":[84],"mechanically":[85],"adaptive":[86],"show":[88],"increased":[89],"viable":[90,129],"horizontal":[91],"forces":[92],"multiple":[94],"soft":[95,112],"hard":[97],"substrates":[98,113],"before":[99],"starting":[100],"slip.":[102],"observe":[105],"segmented":[107,157],"reduce":[109],"compared":[114],"ball-feet":[116],"cylinder-feet.":[118],"report":[120],"how":[121],"provide":[124],"large":[126],"range":[127],"centre":[130],"pressure":[132],"points":[133],"well":[134],"suited":[135],"for":[136,141],"bipedal":[137],"robots,":[138],"but":[139],"quadruped":[142],"slopes":[145],"offer":[152],"functional":[154],"understanding":[155],"like":[161],"ratite":[162],"birds.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}