{"id":"https://openalex.org/W4401414901","doi":"https://doi.org/10.1109/icra57147.2024.10610049","title":"Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion","display_name":"Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414901","doi":"https://doi.org/10.1109/icra57147.2024.10610049"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610049","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5100340330","display_name":"Huang Huang","orcid":"https://orcid.org/0000-0002-2349-7393"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huang Huang","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075873122","display_name":"Antonio Loquercio","orcid":"https://orcid.org/0000-0002-8410-3933"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Antonio Loquercio","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100325449","display_name":"Ashish Kumar","orcid":"https://orcid.org/0000-0002-2003-6209"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashish Kumar","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110951774","display_name":"Neerja Thakkar","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neerja Thakkar","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001594573","display_name":"Jitendra Malik","orcid":"https://orcid.org/0000-0003-3695-1580"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jitendra Malik","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":1.2719,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.77746179,"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":"9712","last_page":"9719"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5547769665718079},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5149841904640198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5145229697227478},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4691578149795532},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3429262638092041},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19080060720443726},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.06595900654792786},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.05368831753730774}],"concepts":[{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5547769665718079},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5149841904640198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5145229697227478},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4691578149795532},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3429262638092041},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19080060720443726},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.06595900654792786},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.05368831753730774}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610049","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W32953709","https://openalex.org/W1540685400","https://openalex.org/W2005350361","https://openalex.org/W2008389204","https://openalex.org/W2071500753","https://openalex.org/W2112059171","https://openalex.org/W2121517924","https://openalex.org/W2147804103","https://openalex.org/W2468944535","https://openalex.org/W2788862220","https://openalex.org/W2796290181","https://openalex.org/W2808421695","https://openalex.org/W2944561196","https://openalex.org/W2951714068","https://openalex.org/W2965407115","https://openalex.org/W2982095652","https://openalex.org/W3037625705","https://openalex.org/W3039737909","https://openalex.org/W3046093665","https://openalex.org/W3093922502","https://openalex.org/W3094066991","https://openalex.org/W3102552342","https://openalex.org/W3104515094","https://openalex.org/W3104876774","https://openalex.org/W3130469176","https://openalex.org/W3142410314","https://openalex.org/W3157938389","https://openalex.org/W3165221321","https://openalex.org/W3172073586","https://openalex.org/W3175254947","https://openalex.org/W3202883604","https://openalex.org/W3206771627","https://openalex.org/W4205430897","https://openalex.org/W4214634122","https://openalex.org/W4233817995","https://openalex.org/W4253387350","https://openalex.org/W4285102174","https://openalex.org/W4285102639","https://openalex.org/W4286963241","https://openalex.org/W4309137642","https://openalex.org/W4312558117","https://openalex.org/W4312878696","https://openalex.org/W4383108196","https://openalex.org/W4383108204","https://openalex.org/W4385858056","https://openalex.org/W4387653674","https://openalex.org/W4402354101","https://openalex.org/W6605823007","https://openalex.org/W6632235069","https://openalex.org/W6640174482","https://openalex.org/W6768977950","https://openalex.org/W6778428183","https://openalex.org/W6801964084","https://openalex.org/W6809907971","https://openalex.org/W6846358943","https://openalex.org/W6846664724","https://openalex.org/W7024733681"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"For":[0],"locomotion,":[1],"is":[2],"an":[3,12,35,93,113],"arm":[4,49,155],"on":[5],"a":[6,9,31,157,201],"legged":[7,38,64],"robot":[8,65,145,161],"liability":[10],"or":[11,43],"asset":[13,36],"for":[14,37,62,68,193],"locomotion?":[15],"Biological":[16],"systems":[17],"evolved":[18],"additional":[19],"limbs":[20],"beyond":[21,51],"legs":[22],"that":[23,97,126,148],"facilitates":[24],"postural":[25],"control.":[26],"This":[27],"work":[28],"shows":[29],"how":[30],"manipulator":[32],"can":[33],"be":[34],"locomotion":[39,80],"at":[40,163],"high":[41,164],"speeds":[42,165],"under":[44,171,195],"external":[45,172,196],"perturbations,":[46],"where":[47],"the":[48,54,63,69,130,140,154,169,180],"serves":[50],"manipulation.":[52],"Since":[53],"system":[55],"has":[56],"15":[57],"degrees":[58,101],"of":[59,87,102],"freedom":[60,103],"(twelve":[61],"and":[66,104,143,166,189],"three":[67],"arm),":[70],"off-the-shelf":[71],"reinforcement":[72],"learning":[73,115],"(RL)":[74],"algorithms":[75],"struggle":[76],"to":[77,117,135,152,159,167,184,191,199],"learn":[78],"effective":[79],"policies.":[81],"Inspired":[82],"by":[83,133],"Bernstein\u2019s":[84],"neurophysiological":[85],"theory":[86],"animal":[88],"motor":[89],"learning,":[90],"we":[91,178],"develop":[92],"incremental":[94],"training":[95],"procedure":[96,116],"initially":[98],"freezes":[99],"some":[100],"gradually":[105],"releases":[106],"them,":[107],"using":[108,200],"behaviour":[109],"cloning":[110],"(BC)":[111],"from":[112],"early":[114],"guide":[118],"optimization":[119],"in":[120,175],"later":[121],"learning.":[122],"Simulation":[123,142],"experiments":[124,146],"show":[125],"our":[127,149],"policy":[128,150],"increases":[129],"success":[131],"rate":[132,182],"up":[134,183,190],"61":[136],"percentage":[137],"points":[138],"over":[139],"baselines.":[141],"real":[144],"suggest":[147],"learns":[151],"use":[153],"as":[156],"\"tail\"":[158],"initiate":[160],"turning":[162,188],"stabilize":[168],"quadruped":[170,194],"perturbations.":[173],"Quantitatively,":[174],"simulation":[176],"experiments,":[177],"cut":[179],"failure":[181],"43.6%":[185],"during":[186],"high-speed":[187],"31.8%":[192],"forces":[197],"compared":[198],"locked":[202],"arm.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
