{"id":"https://openalex.org/W2971099763","doi":"https://doi.org/10.1109/iros40897.2019.8967552","title":"Towards Jumping Locomotion for Quadruped Robots on the Moon","display_name":"Towards Jumping Locomotion for Quadruped Robots on the Moon","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2971099763","doi":"https://doi.org/10.1109/iros40897.2019.8967552","mag":"2971099763"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/356124","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079328169","display_name":"Hendrik Kolvenbach","orcid":"https://orcid.org/0000-0003-1229-7537"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210151473","display_name":"Robotic Technology (United States)","ror":"https://ror.org/05xp03991","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151473"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Hendrik Kolvenbach","raw_affiliation_strings":["Robotic Systems Lab (RSL) at ETH Zurich,Switzerland","Robotic Systems Lab (RSL) at ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab (RSL) at ETH Zurich,Switzerland","institution_ids":["https://openalex.org/I4210151473","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab (RSL) at ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051452760","display_name":"Elias Hampp","orcid":"https://orcid.org/0000-0002-4739-5789"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210151473","display_name":"Robotic Technology (United States)","ror":"https://ror.org/05xp03991","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151473"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Elias Hampp","raw_affiliation_strings":["Robotic Systems Lab (RSL) at ETH Zurich,Switzerland","Robotic Systems Lab (RSL) at ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab (RSL) at ETH Zurich,Switzerland","institution_ids":["https://openalex.org/I4210151473","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab (RSL) at ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084491709","display_name":"Patrick Barton","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210151473","display_name":"Robotic Technology (United States)","ror":"https://ror.org/05xp03991","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151473"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Patrick Barton","raw_affiliation_strings":["Robotic Systems Lab (RSL) at ETH Zurich,Switzerland","Robotic Systems Lab (RSL) at ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab (RSL) at ETH Zurich,Switzerland","institution_ids":["https://openalex.org/I4210151473","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab (RSL) at ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018489763","display_name":"Radek Zenkl","orcid":"https://orcid.org/0009-0000-4099-1361"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210151473","display_name":"Robotic Technology (United States)","ror":"https://ror.org/05xp03991","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151473"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Radek Zenkl","raw_affiliation_strings":["Robotic Systems Lab (RSL) at ETH Zurich,Switzerland","Robotic Systems Lab (RSL) at ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab (RSL) at ETH Zurich,Switzerland","institution_ids":["https://openalex.org/I4210151473","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab (RSL) at ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210151473","display_name":"Robotic Technology (United States)","ror":"https://ror.org/05xp03991","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151473"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab (RSL) at ETH Zurich,Switzerland","Robotic Systems Lab (RSL) at ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab (RSL) at ETH Zurich,Switzerland","institution_ids":["https://openalex.org/I4210151473","https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab (RSL) at ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8943,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":{"value":0.84987429,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5459","last_page":"5466"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9642000198364258,"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":0.958299994468689,"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/jumping","display_name":"Jumping","score":0.902123749256134},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8009148836135864},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5353401899337769},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5080523490905762},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5027830600738525},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.498340368270874},{"id":"https://openalex.org/keywords/leaps","display_name":"LEAPS","score":0.49328893423080444},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.45124882459640503},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4462154507637024},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.41134315729141235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24713420867919922},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19729048013687134},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16837367415428162},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15944606065750122},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1397475302219391},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.090553879737854}],"concepts":[{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.902123749256134},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8009148836135864},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5353401899337769},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5080523490905762},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5027830600738525},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.498340368270874},{"id":"https://openalex.org/C2777705401","wikidata":"https://www.wikidata.org/wiki/Q6457570","display_name":"LEAPS","level":2,"score":0.49328893423080444},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.45124882459640503},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4462154507637024},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.41134315729141235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24713420867919922},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19729048013687134},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16837367415428162},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15944606065750122},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1397475302219391},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.090553879737854},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros40897.2019.8967552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/356124","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/356124","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/405699","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/405699","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/438204","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/438204","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-b-000356124","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000356124","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/356124","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/356124","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W32953709","https://openalex.org/W1527751191","https://openalex.org/W1822001265","https://openalex.org/W1934439453","https://openalex.org/W2006169734","https://openalex.org/W2038503802","https://openalex.org/W2040257637","https://openalex.org/W2064511982","https://openalex.org/W2086587468","https://openalex.org/W2118935785","https://openalex.org/W2131558485","https://openalex.org/W2137165191","https://openalex.org/W2137751226","https://openalex.org/W2148611376","https://openalex.org/W2294151168","https://openalex.org/W2295130897","https://openalex.org/W2397705570","https://openalex.org/W2409825332","https://openalex.org/W2416862954","https://openalex.org/W2560658338","https://openalex.org/W2753455365","https://openalex.org/W2772054799","https://openalex.org/W2810509071","https://openalex.org/W2925163165","https://openalex.org/W2933967624","https://openalex.org/W4285719527","https://openalex.org/W6752536811","https://openalex.org/W6760854571"],"related_works":["https://openalex.org/W2492014775","https://openalex.org/W2381023742","https://openalex.org/W4403958025","https://openalex.org/W2373297822","https://openalex.org/W2371221548","https://openalex.org/W2388543165","https://openalex.org/W2533958670","https://openalex.org/W2741632929","https://openalex.org/W2977999572","https://openalex.org/W2363281567"],"abstract_inverted_index":{"Jumping":[0],"locomotion":[1],"has":[2],"the":[3,22,57,68,73,79,86,89,110,113,120],"potential":[4],"to":[5,9,32,53,128],"enable":[6],"legged":[7],"robots":[8,69],"overcome":[10],"obstacles":[11],"and":[12,47,94,101,115],"travel":[13],"efficiently":[14],"on":[15],"low-gravity":[16],"celestial":[17],"bodies.":[18],"We":[19,55,76],"present":[20,56],"how":[21],"22":[23],"kg":[24],"quadruped":[25],"robot":[26,37],"SpaceBok":[27],"exploits":[28],"lunar":[29],"gravity":[30],"conditions":[31],"perform":[33],"energy-efficient":[34],"jumps.":[35,130],"The":[36,99],"achieves":[38],"repetitive,":[39],"vertical":[40],"jumps":[41],"of":[42,51,59,67,81,91,112],"more":[43],"than":[44],"0.9m":[45],"meter":[46],"powerful":[48],"single":[49],"leaps":[50],"up":[52],"1.3m.":[54],"implementation":[58,80],"a":[60,82],"reaction":[61],"wheel,":[62],"which":[63],"allows":[64],"for":[65],"control":[66],"pitch":[70],"orientation":[71],"during":[72,97],"flight":[74],"phase.":[75],"also":[77],"demonstrate":[78],"parallel":[83],"elasticity":[84,122],"in":[85],"legs":[87],"providing":[88],"capability":[90],"temporarily":[92],"storing":[93],"reusing":[95],"energy":[96,125],"jumping.":[98],"jumping":[100,118],"attitude":[102],"controller":[103],"are":[104],"subsequently":[105],"presented.":[106],"Finally,":[107],"we":[108],"analyze":[109],"energetics":[111],"system":[114],"show":[116],"that":[117],"with":[119],"integrated":[121],"significantly":[123],"reduces":[124],"consumption":[126],"compared":[127],"non-elastic":[129]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
