{"id":"https://openalex.org/W3133153804","doi":"https://doi.org/10.1109/iros45743.2020.9340789","title":"Automatic Gait Pattern Selection for Legged Robots","display_name":"Automatic Gait Pattern Selection for Legged Robots","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3133153804","doi":"https://doi.org/10.1109/iros45743.2020.9340789","mag":"3133153804"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.pure.ed.ac.uk/ws/files/159077965/Automatic_Gait_Pattern_WANG_DOA01072020_AFV.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100449260","display_name":"Jiayi Wang","orcid":"https://orcid.org/0000-0002-1313-138X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Jiayi Wang","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009031291","display_name":"Iordanis Chatzinikolaidis","orcid":"https://orcid.org/0000-0001-7515-2058"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Iordanis Chatzinikolaidis","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032652050","display_name":"Carlos Mastalli","orcid":"https://orcid.org/0000-0002-0725-4279"},"institutions":[{"id":"https://openalex.org/I4210128584","display_name":"The Alan Turing Institute","ror":"https://ror.org/035dkdb55","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210128584"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Carlos Mastalli","raw_affiliation_strings":["Artificial Intelligence Programme, The Alan Turing Institute, London, United Kingdom","School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Programme, The Alan Turing Institute, London, United Kingdom","institution_ids":["https://openalex.org/I4210128584"]},{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052265126","display_name":"Wouter Wolfslag","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wouter Wolfslag","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041360325","display_name":"Guiyang Xin","orcid":"https://orcid.org/0000-0003-0921-7487"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guiyang Xin","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043622443","display_name":"Steve Tonneau","orcid":"https://orcid.org/0000-0003-3001-8693"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Steve Tonneau","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I4210128584","display_name":"The Alan Turing Institute","ror":"https://ror.org/035dkdb55","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210128584"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["Artificial Intelligence Programme, The Alan Turing Institute, London, United Kingdom","School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Programme, The Alan Turing Institute, London, United Kingdom","institution_ids":["https://openalex.org/I4210128584"]},{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100449260"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":0.871,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.71484977,"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":"3990","last_page":"3997"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9835000038146973,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/computer-science","display_name":"Computer science","score":0.6955593824386597},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6795858144760132},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6763730049133301},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6489627361297607},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6318283677101135},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5789180994033813},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.5132119655609131},{"id":"https://openalex.org/keywords/intuition","display_name":"Intuition","score":0.49796175956726074},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.44715002179145813},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3763849139213562},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13591641187667847},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.06518197059631348}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6955593824386597},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6795858144760132},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6763730049133301},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6489627361297607},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6318283677101135},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5789180994033813},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.5132119655609131},{"id":"https://openalex.org/C132010649","wikidata":"https://www.wikidata.org/wiki/Q189222","display_name":"Intuition","level":2,"score":0.49796175956726074},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.44715002179145813},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3763849139213562},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13591641187667847},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.06518197059631348},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9340789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/b0a23de2-bf93-43e1-bccd-84fb03db62e5","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11820/b0a23de2-bf93-43e1-bccd-84fb03db62e5","pdf_url":"https://www.pure.ed.ac.uk/ws/files/159077965/Automatic_Gait_Pattern_WANG_DOA01072020_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:pure.ed.ac.uk:publications/b0a23de2-bf93-43e1-bccd-84fb03db62e5","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/b0a23de2-bf93-43e1-bccd-84fb03db62e5","pdf_url":"https://www.pure.ed.ac.uk/ws/files/159077965/Automatic_Gait_Pattern_WANG_DOA01072020_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"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":"Wang, J, Chatzinikolaidis, I, Mastalli, C, Wolfslag, W, Xin, G, Tonneau, S & Vijayakumar, S 2021, Automatic Gait Pattern Selection for Legged Robots. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, pp. 3990 - 3997, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, United States, 25/10/20. https://doi.org/10.1109/IROS45743.2020.9340789","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/b0a23de2-bf93-43e1-bccd-84fb03db62e5","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/b0a23de2-bf93-43e1-bccd-84fb03db62e5","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"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":"Wang, J, Chatzinikolaidis, I, Mastalli, C, Wolfslag, W, Xin, G, Tonneau, S & Vijayakumar, S 2021, Automatic Gait Pattern Selection for Legged Robots. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, pp. 3990 - 3997, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, United States, 25/10/20. https://doi.org/10.1109/IROS45743.2020.9340789","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/b0a23de2-bf93-43e1-bccd-84fb03db62e5","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11820/b0a23de2-bf93-43e1-bccd-84fb03db62e5","pdf_url":"https://www.pure.ed.ac.uk/ws/files/159077965/Automatic_Gait_Pattern_WANG_DOA01072020_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5799999833106995}],"awards":[{"id":"https://openalex.org/G1127646451","display_name":null,"funder_award_id":"780684","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G2838024195","display_name":"UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management","funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4483049737","display_name":null,"funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334245","funder_display_name":"Offshore Robotics for Certification of Assets"},{"id":"https://openalex.org/G5045220161","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8602921712","display_name":null,"funder_award_id":"EP/R026173","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334245","display_name":"Offshore Robotics for Certification of Assets","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3133153804.pdf","grobid_xml":"https://content.openalex.org/works/W3133153804.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W180478659","https://openalex.org/W253703761","https://openalex.org/W1502718064","https://openalex.org/W1559393815","https://openalex.org/W1592294156","https://openalex.org/W1663973292","https://openalex.org/W1968143987","https://openalex.org/W2015149365","https://openalex.org/W2031502079","https://openalex.org/W2042408133","https://openalex.org/W2065238107","https://openalex.org/W2071307076","https://openalex.org/W2087617385","https://openalex.org/W2101340954","https://openalex.org/W2336281863","https://openalex.org/W2345626358","https://openalex.org/W2411183766","https://openalex.org/W2491414412","https://openalex.org/W2549216668","https://openalex.org/W2567729074","https://openalex.org/W2594639291","https://openalex.org/W2738799195","https://openalex.org/W2739232183","https://openalex.org/W2763052367","https://openalex.org/W2771691050","https://openalex.org/W2774366155","https://openalex.org/W2784947652","https://openalex.org/W2788030459","https://openalex.org/W2793991136","https://openalex.org/W2805883505","https://openalex.org/W2842089854","https://openalex.org/W2850053679","https://openalex.org/W2966193718","https://openalex.org/W3019094582","https://openalex.org/W3081791272","https://openalex.org/W3099855898","https://openalex.org/W3102715624","https://openalex.org/W3102994022","https://openalex.org/W3104730803","https://openalex.org/W3156856653","https://openalex.org/W4211003818","https://openalex.org/W4211084250","https://openalex.org/W4250058668","https://openalex.org/W6609643018","https://openalex.org/W6654221717","https://openalex.org/W6794481741"],"related_works":["https://openalex.org/W2364252372","https://openalex.org/W4234066492","https://openalex.org/W1998063895","https://openalex.org/W1967044713","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W2133470120","https://openalex.org/W3131574667","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"An":[0],"important":[1,29],"issue":[2],"when":[3,169],"synthesizing":[4],"legged":[5],"locomotion":[6],"plans":[7],"is":[8],"the":[9,24,32,74,126,157,181],"combinatorial":[10],"complexity":[11],"that":[12,95,152],"arises":[13],"from":[14,80],"gait":[15,25,54,83,115,135,147],"pattern":[16,26,55,84,116],"selection.":[17],"Though":[18],"it":[19],"can":[20,117],"be":[21,118],"defined":[22],"manually,":[23],"plays":[27],"an":[28,48,113],"role":[30],"in":[31,131],"feasibility":[33],"and":[34,50,66,89,101,112],"optimality":[35],"of":[36,76,128,134,160],"a":[37,42,78,97,102,105,109,132,142],"motion":[38],"with":[39,47,171],"respect":[40],"to":[41,64,82,124,140,166,184],"task.":[43],"Replacing":[44],"human":[45],"intuition":[46],"automatic":[49],"efficient":[51],"approach":[52],"for":[53,59,86,96,145],"selection":[56,85],"would":[57],"allow":[58],"more":[60],"autonomous":[61],"robots,":[62],"responsive":[63],"task":[65,81,111],"environment":[67,88],"changes.":[68],"To":[69],"this":[70,129],"end,":[71],"we":[72,93,138,176],"propose":[73,139],"idea":[75],"building":[77],"map":[79,130],"given":[87,110],"performance":[90],"objective.":[91],"Indeed,":[92],"show":[94,151],"2D":[98],"half-cheetah":[99],"model":[100],"quadruped":[103],"robot,":[104],"direct":[106],"mapping":[107],"between":[108],"optimal":[114],"established.":[119],"We":[120,149],"use":[121],"supervised":[122],"learning":[123],"capture":[125],"structure":[127],"form":[133],"regions.":[136],"Furthermore,":[137],"construct":[141],"warm-starting":[143,154],"trajectory":[144,162],"each":[146],"region.":[148],"empirically":[150],"these":[153],"trajectories":[155],"improve":[156],"convergence":[158],"speed":[159],"our":[161,186],"optimization":[163],"problem":[164],"up":[165],"60":[167],"times":[168],"compared":[170],"random":[172],"initial":[173],"guesses.":[174],"Finally,":[175],"conduct":[177],"experimental":[178],"trials":[179],"on":[180],"ANYmal":[182],"robot":[183],"validate":[185],"method.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-04-22T08:38:42.863108","created_date":"2025-10-10T00:00:00"}
