{"id":"https://openalex.org/W4401417186","doi":"https://doi.org/10.1109/icra57147.2024.10610504","title":"Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments","display_name":"Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417186","doi":"https://doi.org/10.1109/icra57147.2024.10610504"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610504","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/A5100329289","display_name":"Jaemin Lee","orcid":"https://orcid.org/0000-0002-0621-3280"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaemin Lee","raw_affiliation_strings":["California Institute of Technology (Caltech),Department of Mechanical and Civil Engineering,Pasadena,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Department of Mechanical and Civil Engineering,Pasadena,CA,USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004930845","display_name":"Jeeseop Kim","orcid":"https://orcid.org/0000-0003-4028-2359"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeeseop Kim","raw_affiliation_strings":["California Institute of Technology (Caltech),Department of Mechanical and Civil Engineering,Pasadena,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Department of Mechanical and Civil Engineering,Pasadena,CA,USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044985505","display_name":"Wyatt Ubellacker","orcid":"https://orcid.org/0000-0002-4732-6185"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wyatt Ubellacker","raw_affiliation_strings":["California Institute of Technology (Caltech),Department of Mechanical and Civil Engineering,Pasadena,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Department of Mechanical and Civil Engineering,Pasadena,CA,USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018353703","display_name":"Tam\u00e1s G. Moln\u00e1r","orcid":"https://orcid.org/0000-0002-9379-7121"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tamas G. Molnar","raw_affiliation_strings":["California Institute of Technology (Caltech),Department of Mechanical and Civil Engineering,Pasadena,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Department of Mechanical and Civil Engineering,Pasadena,CA,USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["California Institute of Technology (Caltech),Department of Mechanical and Civil Engineering,Pasadena,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Department of Mechanical and Civil Engineering,Pasadena,CA,USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":7.3607,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.98053528,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3485","last_page":"3491"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994999766349792,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7651441097259521},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5455030202865601},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.5450934767723083},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44251111149787903},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39591580629348755},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3696659207344055},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2389906644821167}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7651441097259521},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5455030202865601},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.5450934767723083},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44251111149787903},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39591580629348755},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3696659207344055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2389906644821167},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10610504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610504","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"},{"id":"pmh:oai:soar.wichita.edu:10057/29834","is_oa":false,"landing_page_url":"https://hdl.handle.net/10057/29834","pdf_url":null,"source":{"id":"https://openalex.org/S4306401479","display_name":"Holmes Museum Of Anthropology (Wichita State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39587148","host_organization_name":"Wichita State University","host_organization_lineage":["https://openalex.org/I39587148"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1975230295","https://openalex.org/W1985875375","https://openalex.org/W2065548345","https://openalex.org/W2560504659","https://openalex.org/W2575989868","https://openalex.org/W2735010720","https://openalex.org/W2746499955","https://openalex.org/W2769646558","https://openalex.org/W2774367037","https://openalex.org/W2788200022","https://openalex.org/W2793991136","https://openalex.org/W2912365230","https://openalex.org/W2914653242","https://openalex.org/W2972810470","https://openalex.org/W3004647014","https://openalex.org/W3035707643","https://openalex.org/W3041078985","https://openalex.org/W3045869788","https://openalex.org/W3090033167","https://openalex.org/W3101798601","https://openalex.org/W3119702752","https://openalex.org/W3203830790","https://openalex.org/W3205275030","https://openalex.org/W4205430897","https://openalex.org/W4206324146","https://openalex.org/W4213415200","https://openalex.org/W4313550924","https://openalex.org/W4313562870","https://openalex.org/W4313563004","https://openalex.org/W4315572250","https://openalex.org/W4378696928","https://openalex.org/W4383097447","https://openalex.org/W4385858056","https://openalex.org/W4387653674","https://openalex.org/W4389666311","https://openalex.org/W4389667374","https://openalex.org/W6767349745"],"related_works":["https://openalex.org/W4388251424","https://openalex.org/W2008498579","https://openalex.org/W2923272690","https://openalex.org/W2559825912","https://openalex.org/W2064963663","https://openalex.org/W1966935220","https://openalex.org/W3100731831","https://openalex.org/W2806616984","https://openalex.org/W4323670354","https://openalex.org/W2139075120"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,13,39,55,145,150],"safety-critical":[4,127],"control":[5,86,88,128],"framework":[6,63,140],"tailored":[7],"for":[8,72],"quadruped":[9,146],"robots":[10],"equipped":[11,148],"with":[12,54,149],"roller":[14,56,151],"arm,":[15,152],"particularly":[16],"when":[17],"performing":[18],"locomotive":[19],"tasks":[20],"such":[21],"as":[22],"autonomous":[23,110],"robotic":[24],"inspection":[25],"in":[26,42,80],"complex,":[27],"multi-tiered":[28],"environments.":[29],"In":[30],"this":[31,60],"study,":[32],"we":[33],"consider":[34],"the":[35,65,135,161],"problem":[36],"of":[37,137],"operating":[38],"quadrupedal":[40],"robot":[41,147],"distillation":[43],"columns,":[44,76],"locomoting":[45],"on":[46,95],"column":[47,162],"trays":[48,53],"and":[49,98,111,120,129,155],"transitioning":[50,156],"between":[51,75,157],"these":[52,107],"arm.":[57],"To":[58],"address":[59],"problem,":[61],"our":[62,138],"encompasses":[64],"following":[66],"key":[67],"elements:":[68],"1)":[69],"Trajectory":[70],"generation":[71],"seamless":[73],"transitions":[74,93],"2)":[77],"Foothold":[78],"re-planning":[79,131],"regions":[81],"deemed":[82],"unsafe,":[83],"3)":[84],"Safety-critical":[85],"incorporating":[87],"barrier":[89],"functions,":[90],"4)":[91],"Gait":[92],"based":[94],"safety":[96],"levels,":[97],"5)":[99],"A":[100],"low-level":[101],"controller.":[102],"Our":[103],"comprehensive":[104],"framework,":[105],"comprising":[106],"components,":[108],"enables":[109],"safe":[112],"locomotion":[113],"across":[114],"multiple":[115],"layers.":[116],"We":[117,133],"incorporate":[118],"reduced-order":[119],"full-body":[121],"models":[122],"to":[123],"ensure":[124],"safety,":[125],"integrating":[126],"footstep":[130],"approaches.":[132],"validate":[134],"effectiveness":[136],"proposed":[139],"through":[141],"practical":[142],"experiments":[143],"involving":[144],"successfully":[153],"navigating":[154],"different":[158],"levels":[159],"within":[160],"tray":[163],"structure.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}