{"id":"https://openalex.org/W2772217408","doi":"https://doi.org/10.1109/iros.2017.8206430","title":"Viscosity-based height reflex for workspace augmentation for quadrupedal locomotion on rough terrain","display_name":"Viscosity-based height reflex for workspace augmentation for quadrupedal locomotion on rough terrain","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2772217408","doi":"https://doi.org/10.1109/iros.2017.8206430","mag":"2772217408"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206430","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5070148842","display_name":"Michele Focchi","orcid":"https://orcid.org/0000-0002-4888-5595"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Michele Focchi","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035226540","display_name":"Roy Featherstone","orcid":"https://orcid.org/0000-0002-6180-2846"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Roy Featherstone","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082437931","display_name":"Romeo Orsolino","orcid":"https://orcid.org/0000-0001-9847-2601"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Romeo Orsolino","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010033061","display_name":"Claudio Semini","orcid":"https://orcid.org/0000-0002-3034-4686"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Semini","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5070148842"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.5248,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.65832783,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5353","last_page":"5360"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958999752998352,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9911999702453613,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.9410970211029053},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7149804830551147},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5797073841094971},{"id":"https://openalex.org/keywords/viscosity","display_name":"Viscosity","score":0.5340347290039062},{"id":"https://openalex.org/keywords/reflex","display_name":"Reflex","score":0.5312732458114624},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.5180408954620361},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46803879737854004},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3812198042869568},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2278711497783661},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2249402403831482},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.15579897165298462},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15016701817512512},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11198380589485168},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.08605599403381348},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.057933270931243896}],"concepts":[{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.9410970211029053},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7149804830551147},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5797073841094971},{"id":"https://openalex.org/C127172972","wikidata":"https://www.wikidata.org/wiki/Q128709","display_name":"Viscosity","level":2,"score":0.5340347290039062},{"id":"https://openalex.org/C83974742","wikidata":"https://www.wikidata.org/wiki/Q179405","display_name":"Reflex","level":2,"score":0.5312732458114624},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.5180408954620361},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46803879737854004},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3812198042869568},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2278711497783661},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2249402403831482},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.15579897165298462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15016701817512512},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11198380589485168},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.08605599403381348},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.057933270931243896},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8206430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206430","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unitn.it:11572/365634","is_oa":false,"landing_page_url":"https://hdl.handle.net/11572/365634","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W1592294156","https://openalex.org/W1789658038","https://openalex.org/W2064822683","https://openalex.org/W2111904757","https://openalex.org/W2142080559","https://openalex.org/W2148832281","https://openalex.org/W2154139861","https://openalex.org/W2165471867","https://openalex.org/W2199904337","https://openalex.org/W2204100769","https://openalex.org/W2211997901","https://openalex.org/W2296360731","https://openalex.org/W2323447981","https://openalex.org/W2334471582","https://openalex.org/W2470094176","https://openalex.org/W2478562489","https://openalex.org/W2531596132","https://openalex.org/W2566646261","https://openalex.org/W2571115941","https://openalex.org/W2577008596","https://openalex.org/W2738799195","https://openalex.org/W3099855898","https://openalex.org/W4205362845","https://openalex.org/W4241459016","https://openalex.org/W6720607660","https://openalex.org/W6728798467","https://openalex.org/W6822935082"],"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/W1992503747","https://openalex.org/W1966935220","https://openalex.org/W3100731831","https://openalex.org/W2806616984","https://openalex.org/W2371519816"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,22,30,52,63,88],"reactive":[3],"locomotion":[4],"strategy,":[5],"called":[6],"height":[7,49],"reflex,":[8],"that":[9,57],"is":[10,51,102,112,119,130,157],"useful":[11],"to":[12,26,66,70,76,104,114,148,153],"address":[13,149],"big":[14],"elevation":[15],"changes":[16],"in":[17,44],"the":[18,36,45,59,67,72,78,84,93,99,106,136],"terrain":[19],"(e.g.":[20],"when":[21],"quadruped":[23,140],"robot":[24,94],"has":[25],"step":[27],"down":[28],"from":[29],"high":[31,150],"platform).":[32],"In":[33],"these":[34],"cases":[35],"swing":[37,60],"leg":[38,161,168],"can":[39],"lose":[40],"mobility":[41],"creating":[42],"issues":[43],"subsequent":[46],"steps.":[47],"The":[48,109,128],"reflex":[50,129],"foot":[53],"trajectory":[54],"replanning":[55],"strategy":[56],"redistributes":[58],"motion":[61,85],"(in":[62],"smart":[64],"way)":[65],"stance":[68],"legs":[69],"\u201clower\u201d":[71],"whole":[73],"trunk":[74],"and":[75,123,132,163],"aid":[77],"foothold":[79],"searching":[80],"motion.":[81],"To":[82],"spread":[83],"we":[86,145],"exploit":[87],"massless":[89],"link":[90],"model":[91],"of":[92,159,165],"with":[95],"virtual":[96],"dampers":[97],"at":[98],"joints,":[100],"which":[101,156],"used":[103],"replan":[105],"feet":[107],"trajectories.":[108],"proposed":[110],"approach":[111,144],"able":[113,147],"incorporate":[115],"kinematic":[116],"limits,":[117],"it":[118],"easy-to-tune,":[120],"computationally":[121],"efficient":[122],"suitable":[124],"for":[125],"real-time":[126],"implementations.":[127],"implemented":[131],"experimentally":[133],"evaluated":[134],"on":[135],"80":[137],"kg":[138],"hydraulic":[139],"HyQ.":[141],"With":[142],"our":[143],"were":[146],"steps,":[151],"up":[152],"24":[154],"cm":[155],"30%":[158],"HyQ":[160],"length":[162],"53%":[164],"its":[166],"retractable":[167],"range.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}