{"id":"https://openalex.org/W4401413690","doi":"https://doi.org/10.1109/icra57147.2024.10610151","title":"Multi-Task Learning of Active Fault-Tolerant Controller for Leg Failures in Quadruped robots","display_name":"Multi-Task Learning of Active Fault-Tolerant Controller for Leg Failures in Quadruped robots","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413690","doi":"https://doi.org/10.1109/icra57147.2024.10610151"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610151","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":"conference-paper","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/A5027312666","display_name":"Taixian Hou","orcid":"https://orcid.org/0000-0002-2741-0494"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Taixian Hou","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China,200433"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China,200433","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011252985","display_name":"Jiaxin Tu","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaxin Tu","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China,200433"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China,200433","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070205405","display_name":"Xiaofei Gao","orcid":"https://orcid.org/0000-0002-9891-6943"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaofei Gao","raw_affiliation_strings":["Beijing Jingcheng Zhitong Robotics Technology Co.,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Jingcheng Zhitong Robotics Technology Co.,Beijing,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067808391","display_name":"Zhiyan Dong","orcid":"https://orcid.org/0000-0002-9459-1889"},"institutions":[{"id":"https://openalex.org/I4210089285","display_name":"Ji Hua Laboratory","ror":"https://ror.org/006aydy55","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210089285"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyan Dong","raw_affiliation_strings":["Ji Hua Laboratory,Foshan,China,200433"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ji Hua Laboratory,Foshan,China,200433","institution_ids":["https://openalex.org/I4210089285"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036810000","display_name":"Peng Zhai","orcid":"https://orcid.org/0000-0002-1374-7969"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Zhai","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China,200433"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China,200433","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100414890","display_name":"Lihua Zhang","orcid":"https://orcid.org/0000-0001-5770-9529"},"institutions":[{"id":"https://openalex.org/I4210093612","display_name":"Shanghai Tunnel Engineering (China)","ror":"https://ror.org/00nkkk791","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lihua Zhang","raw_affiliation_strings":["Engineering Research Center of AI and Robotics,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of AI and Robotics,Shanghai,China","institution_ids":["https://openalex.org/I4210093612"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9758","last_page":"9764"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9947999715805054,"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":0.9947999715805054,"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":0.9921000003814697,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9846000075340271,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/robot","display_name":"Robot","score":0.6918646693229675},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6477627158164978},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.6437475681304932},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6238700151443481},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4900435209274292},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.4175335466861725},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41376376152038574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38792717456817627},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3465534448623657},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32304447889328003},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23241257667541504},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.1665654480457306},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1439940631389618},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07317298650741577}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6918646693229675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6477627158164978},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.6437475681304932},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6238700151443481},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4900435209274292},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.4175335466861725},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41376376152038574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38792717456817627},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3465534448623657},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32304447889328003},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23241257667541504},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.1665654480457306},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1439940631389618},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07317298650741577},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610151","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":[{"display_name":"Climate action","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1981225035","https://openalex.org/W1997576152","https://openalex.org/W2063867933","https://openalex.org/W2159759212","https://openalex.org/W2911087563","https://openalex.org/W2963184939","https://openalex.org/W3008998212","https://openalex.org/W3113616534","https://openalex.org/W3206363916","https://openalex.org/W3213974477","https://openalex.org/W3217075610","https://openalex.org/W4200187710","https://openalex.org/W4205430897","https://openalex.org/W4207043765","https://openalex.org/W4225918202","https://openalex.org/W4229044820","https://openalex.org/W4286963241","https://openalex.org/W4293433540","https://openalex.org/W4293566197","https://openalex.org/W4312900898","https://openalex.org/W4317987839","https://openalex.org/W4323555934","https://openalex.org/W4368755539","https://openalex.org/W4383066216","https://openalex.org/W4383108816","https://openalex.org/W4385430486","https://openalex.org/W4385681428","https://openalex.org/W4401110147","https://openalex.org/W6800004206","https://openalex.org/W6801798027","https://openalex.org/W6801964084","https://openalex.org/W6804119961","https://openalex.org/W6810285496","https://openalex.org/W6850837573","https://openalex.org/W6855359447"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2165143308","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W1990892711","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Electric":[0],"quadruped":[1],"robots":[2],"used":[3],"in":[4,117,141,152],"outdoor":[5],"exploration":[6],"are":[7],"susceptible":[8],"to":[9,33,53,125],"leg-related":[10],"electrical":[11,180],"or":[12],"mechanical":[13,182],"failures.":[14,183],"Unexpected":[15],"joint":[16,20,100,107,150],"power":[17,112],"loss":[18],"and":[19,42,94,114,128,181],"locking":[21,115],"can":[22],"immediately":[23],"pose":[24],"a":[25,64,80,86,120,145],"falling":[26],"threat.":[27],"Typically,":[28],"controllers":[29],"lack":[30],"the":[31,36,47,57,71,136,156,159,174],"capability":[32],"actively":[34,92],"sense":[35],"condition":[37],"of":[38,67,73,91,98],"their":[39],"own":[40],"joints":[41],"take":[43],"proactive":[44],"actions.":[45],"Maintaining":[46],"original":[48],"motion":[49],"patterns":[50],"could":[51],"lead":[52],"disastrous":[54],"consequences,":[55],"as":[56],"controller":[58],"may":[59],"produce":[60],"irrational":[61],"output":[62],"within":[63],"short":[65],"period":[66],"time,":[68],"further":[69],"creating":[70],"risk":[72],"serious":[74],"physical":[75],"injuries.":[76],"This":[77],"paper":[78],"presents":[79],"hierarchical":[81],"fault-tolerant":[82],"control":[83,137],"scheme":[84,138],"employing":[85],"multi-task":[87],"training":[88],"architecture":[89,103],"capable":[90],"perceiving":[93],"overcoming":[95],"two":[96,153],"types":[97],"leg":[99,147],"faults.":[101],"The":[102],"simultaneously":[104],"trains":[105],"three":[106],"task":[108],"policies":[109],"for":[110],"health,":[111],"loss,":[113],"scenarios":[116,143],"parallel,":[118],"introducing":[119],"symmetric":[121],"reflection":[122],"initialization":[123],"technique":[124],"ensure":[126],"rapid":[127],"stable":[129],"gait":[130],"skill":[131],"transformations.":[132],"Experiments":[133],"demonstrate":[134],"that":[135],"is":[139,171],"robust":[140],"unexpected":[142],"where":[144],"single":[146],"experiences":[148],"concurrent":[149],"faults":[151],"joints.":[154],"Furthermore,":[155],"policy":[157],"retains":[158],"robot\u2019s":[160],"planar":[161],"mobility,":[162],"enabling":[163],"rough":[164],"velocity":[165],"tracking.":[166],"Finally,":[167],"zero-shot":[168],"Sim2Real":[169],"transfer":[170],"achieved":[172],"on":[173],"real-world":[175],"SOLO8":[176],"robot,":[177],"countering":[178],"both":[179]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}