{"id":"https://openalex.org/W2157822824","doi":"https://doi.org/10.1109/iros.2009.5354681","title":"Compliant quadruped locomotion over rough terrain","display_name":"Compliant quadruped locomotion over rough terrain","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2157822824","doi":"https://doi.org/10.1109/iros.2009.5354681","mag":"2157822824"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5077279214","display_name":"Jonas Buchli","orcid":"https://orcid.org/0000-0001-7494-8492"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonas Buchli","raw_affiliation_strings":["Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080415080","display_name":"Mrinal Kalakrishnan","orcid":"https://orcid.org/0000-0003-4292-9857"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mrinal Kalakrishnan","raw_affiliation_strings":["Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082553836","display_name":"Michael Mistry","orcid":"https://orcid.org/0000-0003-3979-922X"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Mistry","raw_affiliation_strings":["Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103760848","display_name":"Peter P\u00e1stor","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Pastor","raw_affiliation_strings":["Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029642293","display_name":"Stefan Schaal","orcid":"https://orcid.org/0000-0001-5660-1874"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Laboratory, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":154,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"814","last_page":"820"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9853000044822693,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9638000130653381,"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/terrain","display_name":"Terrain","score":0.8004117012023926},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.7339480519294739},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6442845463752747},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6041300296783447},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5567290782928467},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5543006062507629},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47890153527259827},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3575872480869293},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22015035152435303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21633747220039368}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8004117012023926},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.7339480519294739},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6442845463752747},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6041300296783447},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5567290782928467},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5543006062507629},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47890153527259827},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3575872480869293},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22015035152435303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21633747220039368},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5354681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.158.7088","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.158.7088","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-clmc.usc.edu/publications/B/buchli-IROS2009.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"},{"id":"https://openalex.org/F4320338112","display_name":"Exploratory Research for Advanced Technology","ror":null},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1822001265","https://openalex.org/W2005805981","https://openalex.org/W2029058516","https://openalex.org/W2044459021","https://openalex.org/W2095593876","https://openalex.org/W2104588723","https://openalex.org/W2144587497","https://openalex.org/W2144908914","https://openalex.org/W2163668399","https://openalex.org/W2164032318","https://openalex.org/W2323447981","https://openalex.org/W2340503276","https://openalex.org/W4205362845","https://openalex.org/W4285719527","https://openalex.org/W6704088369"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W3005657145","https://openalex.org/W2332067308","https://openalex.org/W2028594013","https://openalex.org/W1643150164"],"abstract_inverted_index":{"Many":[0],"critical":[1],"elements":[2,163,245,263,340],"for":[3,7,13,40,75,112,193,342],"statically":[4],"stable":[5],"walking":[6,202,315],"legged":[8,51,143,174,247,352],"robots":[9,52],"have":[10,36,338],"been":[11],"known":[12],"a":[14,31,72,278,286,312],"long":[15],"time,":[16],"including":[17],"stability":[18],"criteria":[19,35],"based":[20,292],"on":[21],"support":[22],"polygons,":[23],"good":[24,73],"foothold":[25],"selection,":[26],"recovery":[27],"strategies":[28],"to":[29,37,88,133,169,177,224,246,299,350],"name":[30],"few.":[32],"All":[33],"these":[34,236,262],"be":[38,209],"accounted":[39],"in":[41,138,156,222,238,266],"the":[42,47,67,76,113,119,122,125,139,150,153,157,171,179,182,212,296,325,328],"planning":[43],"as":[44,46],"well":[45],"control":[48,219,231,253,301],"phase.":[49],"Most":[50],"usually":[53],"employ":[54],"high":[55],"gain":[56],"position":[57],"control,":[58,257],"which":[59,284,346],"means":[60],"that":[61,66,80,261,336],"it":[62],"is":[63,82,127,176,186,232],"crucially":[64],"important":[65],"planned":[68],"reference":[69],"trajectories":[70],"are":[71,103,109,155,164],"match":[74],"actual":[77],"terrain,":[78,148],"and":[79,129,220,254,258,270,294,308,319],"tracking":[81],"accurate.":[83],"Such":[84],"an":[85],"approach":[86],"leads":[87],"conservative":[89],"controllers,":[90],"i.e.":[91],"relatively":[92],"low":[93],"speed,":[94],"ground":[95],"speed":[96],"matching,":[97],"etc.":[98],"Not":[99],"surprisingly":[100],"such":[101],"controllers":[102],"not":[104,110],"very":[105],"robust":[106,135,343],"-":[107,221,228],"they":[108],"suited":[111],"real":[114,309],"world":[115,126,310],"use":[116],"outside":[117],"of":[118,124,142,152,159,173,181,214,268,311,327],"laboratory":[120],"where":[121,149],"knowledge":[123],"limited":[128],"error":[130],"prone.":[131],"Thus,":[132,217],"achieve":[134,235],"robotic":[136,313],"locomotion":[137,175],"archetypical":[140],"domain":[141],"systems,":[144,353],"namely":[145],"complex":[146],"rough":[147],"size":[151],"obstacles":[154,318],"order":[158],"leg":[160],"length,":[161],"additional":[162],"required.":[165,233],"A":[166],"possible":[167],"solution":[168],"improve":[170],"robustness":[172,265],"maximize":[178],"compliance":[180,185,207],"controller.":[183,331],"While":[184],"trivially":[187],"achieved":[188],"by":[189],"reduced":[190],"feedback":[191],"gains,":[192],"terrain":[194],"requiring":[195],"precise":[196],"foot":[197],"placement":[198],"(e.g.":[199,273],"climbing":[200],"rocks,":[201],"over":[203,316],"pegs":[204],"or":[205],"cracks)":[206],"cannot":[208],"introduced":[210],"at":[211],"cost":[213],"inferior":[215],"tracking.":[216],"model-based":[218],"contrast":[223],"passive":[225],"dynamic":[226],"walkers":[227],"active":[229],"balance":[230],"To":[234],"objectives,":[237],"this":[239],"paper":[240],"we":[241,259,276,337],"add":[242],"two":[243],"crucial":[244],"locomotion,":[248,345],"i.e.,":[249],"floating-base":[250],"inverse":[251,329],"dynamics":[252],"predictive":[255],"force":[256],"show":[260,303,335],"increase":[264],"face":[267],"unknown":[269],"unanticipated":[271],"perturbations":[272],"obstacles).":[274],"Furthermore,":[275],"introduce":[277],"novel":[279],"line-based":[280],"COG":[281],"trajectory":[282],"planner,":[283],"yields":[285],"simpler":[287],"algorithm":[288],"than":[289],"traditional":[290],"polygon":[291],"methods":[293],"creates":[295],"appropriate":[297],"input":[298],"our":[300],"system.We":[302],"results":[304,323,334],"from":[305],"both":[306],"simulation":[307],"dog":[314],"non-perceived":[317],"rocky":[320],"terrain.":[321],"The":[322,332],"prove":[324],"effectivity":[326],"dynamics/force":[330],"presented":[333],"all":[339],"needed":[341],"all-terrain":[344],"should":[347],"also":[348],"generalize":[349],"other":[351],"e.g.,":[354],"humanoid":[355],"robots.":[356]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":13},{"year":2013,"cited_by_count":17},{"year":2012,"cited_by_count":10}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}