{"id":"https://openalex.org/W4413918471","doi":"https://doi.org/10.1109/icra55743.2025.11128847","title":"LEVA: A High-Mobility Logistic Vehicle with Legged Suspension","display_name":"LEVA: A High-Mobility Logistic Vehicle with Legged Suspension","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918471","doi":"https://doi.org/10.1109/icra55743.2025.11128847"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128847","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128847","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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://digitalcollection.zhaw.ch/handle/11475/34051","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Marco Arnold","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Marco Arnold","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119514774","display_name":"Lukas Hildebrandt","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lukas Hildebrandt","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119514775","display_name":"Kaspar Janssen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kaspar Janssen","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119514776","display_name":"Efe Ongan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Efe Ongan","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119514777","display_name":"Pascal B\u00fcrge","orcid":null},"institutions":[{"id":"https://openalex.org/I858936495","display_name":"ZHAW Zurich University of Applied Sciences","ror":"https://ror.org/05pmsvm27","country_code":"CH","type":"education","lineage":["https://openalex.org/I858936495"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Pascal B\u00fcrge","raw_affiliation_strings":["Zurich University of Applied Sciences"],"affiliations":[{"raw_affiliation_string":"Zurich University of Applied Sciences","institution_ids":["https://openalex.org/I858936495"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119514778","display_name":"\u00c1d\u00e1m Gyula G\u00e1briel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"\u00c1d\u00e1m Gyula G\u00e1briel","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"James Kennedy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"James Kennedy","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119514779","display_name":"Rishi Lolla","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rishi Lolla","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119514780","display_name":"Quanisha Oppliger","orcid":null},"institutions":[{"id":"https://openalex.org/I858936495","display_name":"ZHAW Zurich University of Applied Sciences","ror":"https://ror.org/05pmsvm27","country_code":"CH","type":"education","lineage":["https://openalex.org/I858936495"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Quanisha Oppliger","raw_affiliation_strings":["Zurich University of Applied Sciences"],"affiliations":[{"raw_affiliation_string":"Zurich University of Applied Sciences","institution_ids":["https://openalex.org/I858936495"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119514773","display_name":"Micha Schaaf","orcid":null},"institutions":[{"id":"https://openalex.org/I858936495","display_name":"ZHAW Zurich University of Applied Sciences","ror":"https://ror.org/05pmsvm27","country_code":"CH","type":"education","lineage":["https://openalex.org/I858936495"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Micha Schaaf","raw_affiliation_strings":["Zurich University of Applied Sciences"],"affiliations":[{"raw_affiliation_string":"Zurich University of Applied Sciences","institution_ids":["https://openalex.org/I858936495"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016092166","display_name":"Joseph Church","orcid":"https://orcid.org/0009-0005-0445-5373"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joseph Church","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115719184","display_name":"Michael Fritsche","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael Fritsche","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041410798","display_name":"Victor Klemm","orcid":"https://orcid.org/0000-0002-6752-3397"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Victor Klemm","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089103837","display_name":"Turcan Tuna","orcid":"https://orcid.org/0000-0001-8662-4890"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Turcan Tuna","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051485036","display_name":"Giorgio Valsecchi","orcid":"https://orcid.org/0000-0003-0595-3938"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Giorgio Valsecchi","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109664311","display_name":"Cedric Weibel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cedric Weibel","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081660745","display_name":"Michael W\u00fcthrich","orcid":"https://orcid.org/0000-0003-0461-1717"},"institutions":[{"id":"https://openalex.org/I858936495","display_name":"ZHAW Zurich University of Applied Sciences","ror":"https://ror.org/05pmsvm27","country_code":"CH","type":"education","lineage":["https://openalex.org/I858936495"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michael W\u00fcthrich","raw_affiliation_strings":["Zurich University of Applied Sciences"],"affiliations":[{"raw_affiliation_string":"Zurich University of Applied Sciences","institution_ids":["https://openalex.org/I858936495"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102883524","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0001-9049-534X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":18,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.48,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.89728504,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7438","last_page":"7444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9668999910354614,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9668999910354614,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9502999782562256,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9265999794006348,"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/suspension","display_name":"Suspension (topology)","score":0.5426204204559326},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45918864011764526},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1649174690246582}],"concepts":[{"id":"https://openalex.org/C105341887","wikidata":"https://www.wikidata.org/wiki/Q1307987","display_name":"Suspension (topology)","level":3,"score":0.5426204204559326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45918864011764526},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1649174690246582},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11128847","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128847","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:digitalcollection.zhaw.ch:11475/34051","is_oa":true,"landing_page_url":"https://digitalcollection.zhaw.ch/handle/11475/34051","pdf_url":null,"source":{"id":"https://openalex.org/S4306401810","display_name":"Z\u00fcrcher Hochschule f\u00fcr Angewandte Wissenschaften digital collection (Zurich University of Applied Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200744771","host_organization_name":"ZHAW Zurich University of Applied Sciences","host_organization_lineage":["https://openalex.org/I200744771"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:digitalcollection.zhaw.ch:11475/34051","is_oa":true,"landing_page_url":"https://digitalcollection.zhaw.ch/handle/11475/34051","pdf_url":null,"source":{"id":"https://openalex.org/S4306401810","display_name":"Z\u00fcrcher Hochschule f\u00fcr Angewandte Wissenschaften digital collection (Zurich University of Applied Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200744771","host_organization_name":"ZHAW Zurich University of Applied Sciences","host_organization_lineage":["https://openalex.org/I200744771"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2125188427","https://openalex.org/W2409825332","https://openalex.org/W2951633861","https://openalex.org/W3041790910","https://openalex.org/W3093922502","https://openalex.org/W4312749288","https://openalex.org/W4367016688","https://openalex.org/W4386822465","https://openalex.org/W4392763392","https://openalex.org/W4401415879"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0],"autonomous":[1,28,79],"transportation":[2,89],"of":[3,58,90,105,108],"materials":[4],"over":[5],"challenging":[6],"terrain":[7],"is":[8,56],"a":[9,22,62,72,103],"challenge":[10],"with":[11],"major":[12],"economic":[13],"implications":[14],"and":[15,39,41,70,86,99,122,127],"remains":[16],"unsolved.":[17],"This":[18],"paper":[19],"introduces":[20],"LEVA,":[21],"high-payload,":[23],"high-mobility":[24],"robot":[25],"designed":[26],"for":[27],"logistics":[29],"across":[30,95],"varied":[31],"terrains,":[32],"including":[33],"those":[34],"typical":[35],"in":[36],"agriculture,":[37],"construction,":[38],"search":[40],"rescue":[42],"operations.":[43],"LEVA":[44,117],"uniquely":[45],"integrates":[46],"an":[47],"advanced":[48],"legged":[49],"suspension":[50],"system":[51],"using":[52,61],"parallel":[53],"kinematics.":[54],"It":[55],"capable":[57],"traversing":[59],"stairs":[60],"reinforcement":[63],"learning":[64],"(RL)":[65],"controller,":[66],"has":[67],"steerable":[68],"wheels,":[69],"includes":[71],"specialized":[73],"box":[74],"pickup":[75],"mechanism":[76],"that":[77],"enables":[78],"payload":[80,125],"loading":[81,126],"as":[82,84,109,111],"well":[83],"precise":[85],"reliable":[87],"cargo":[88],"up":[91],"to":[92],"85":[93],"kg":[94],"uneven":[96],"surfaces,":[97],"steps":[98],"inclines":[100],"while":[101],"maintaining":[102],"Cost":[104],"Transportation":[106],"(CoT)":[107],"low":[110],"0.15.":[112],"Through":[113],"extensive":[114],"experimental":[115],"validation,":[116],"demonstrates":[118],"its":[119],"off-road":[120],"capabilities":[121],"reliability":[123],"regarding":[124],"transport.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
