{"id":"https://openalex.org/W3090705381","doi":"https://doi.org/10.1109/iros45743.2020.9341655","title":"Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators","display_name":"Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3090705381","doi":"https://doi.org/10.1109/iros45743.2020.9341655","mag":"3090705381"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341655","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341655","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/444474","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013495566","display_name":"Edo Jelavi\u0107","orcid":"https://orcid.org/0000-0002-1757-5543"},"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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Edo Jelavic","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044422120","display_name":"Yannick Berdou","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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Yannick Berdou","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080877280","display_name":"Dominic Jud","orcid":"https://orcid.org/0000-0001-8445-6344"},"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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dominic Jud","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059677681","display_name":"Simon Kerscher","orcid":"https://orcid.org/0000-0002-9152-3979"},"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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Simon Kerscher","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, 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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8714,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.70995116,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2684","last_page":"2691"},"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":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/excavator","display_name":"Excavator","score":0.9226216077804565},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6971763968467712},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6727994084358215},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6528042554855347},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5604236721992493},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5554646849632263},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5321958065032959},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5095270276069641},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4945180118083954},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4733978509902954},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47247761487960815},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4451512098312378},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4425240457057953},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4268660843372345},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3759646415710449},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3355404734611511},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1898280382156372}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.9226216077804565},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6971763968467712},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6727994084358215},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6528042554855347},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5604236721992493},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5554646849632263},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5321958065032959},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5095270276069641},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4945180118083954},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4733978509902954},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47247761487960815},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4451512098312378},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4425240457057953},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4268660843372345},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3759646415710449},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3355404734611511},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1898280382156372},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros45743.2020.9341655","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341655","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:www.research-collection.ethz.ch:20.500.11850/444474","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/444474","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":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-b-000444474","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000444474","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:20.500.11850/444474","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/444474","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":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W2027018386","https://openalex.org/W2080132051","https://openalex.org/W2104571279","https://openalex.org/W2113265921","https://openalex.org/W2120179083","https://openalex.org/W2123871098","https://openalex.org/W2326206646","https://openalex.org/W2423857766","https://openalex.org/W2431041105","https://openalex.org/W2571115941","https://openalex.org/W2744484133","https://openalex.org/W2762555062","https://openalex.org/W2768737714","https://openalex.org/W2775361709","https://openalex.org/W2788030459","https://openalex.org/W2793991136","https://openalex.org/W2811027829","https://openalex.org/W2913792742","https://openalex.org/W2920812058","https://openalex.org/W2944561196","https://openalex.org/W2949209865","https://openalex.org/W2950546634","https://openalex.org/W2951633861","https://openalex.org/W2970228732","https://openalex.org/W2980626718","https://openalex.org/W3003188160","https://openalex.org/W3003397085","https://openalex.org/W3006305830","https://openalex.org/W3011481717","https://openalex.org/W3090829738","https://openalex.org/W3101175487","https://openalex.org/W3101817006","https://openalex.org/W3102734218","https://openalex.org/W3103075896","https://openalex.org/W3196252226","https://openalex.org/W4297818729","https://openalex.org/W6678081342","https://openalex.org/W6718213637","https://openalex.org/W6967516838"],"related_works":["https://openalex.org/W3003601017","https://openalex.org/W2038528908","https://openalex.org/W2997898942","https://openalex.org/W2901741596","https://openalex.org/W2363098002","https://openalex.org/W2347606691","https://openalex.org/W2466671794","https://openalex.org/W2391703932","https://openalex.org/W2370050348","https://openalex.org/W2353530107"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,15,32,37,68,72,121],"planning":[4],"and":[5,25,56,88],"control":[6],"pipeline":[7],"for":[8,23,129],"legged-wheeled":[9],"(hybrid)":[10],"machines.":[11],"It":[12],"consists":[13],"of":[14,45,77,105,117],"Trajectory":[16],"Optimization":[17],"based":[18,35],"planner":[19],"that":[20,94,113],"computes":[21,53],"references":[22,28],"end-effectors":[24],"joints.":[26],"The":[27],"are":[29],"tracked":[30],"using":[31,126],"whole-body":[33,49,118],"controller":[34,42],"on":[36,60,67,120],"hierarchical":[38],"optimization":[39],"approach.":[40],"Our":[41],"is":[43,109],"capable":[44],"performing":[46],"terrain":[47],"adaptive":[48],"control.":[50],"Furthermore,":[51],"it":[52],"both":[54],"torque":[55],"position/velocity":[57],"references,":[58],"depending":[59],"the":[61,103,110,115],"actuator":[62],"capabilities.":[63],"We":[64,91],"perform":[65],"experiments":[66],"Menzi":[69],"Muck":[70],"M545,":[71],"full":[73,122],"size":[74,123],"31":[75],"Degrees":[76],"Freedom":[78],"(DoF)":[79],"walking":[80,124],"excavator":[81],"with":[82],"five":[83],"limbs:":[84],"four":[85],"wheeled":[86],"legs":[87],"an":[89],"arm.":[90],"show":[92],"motions":[93,119],"require":[95],"full-body":[96],"coordination":[97],"executed":[98],"in":[99],"realistic":[100],"conditions.":[101],"To":[102],"best":[104],"our":[106],"knowledge,":[107],"this":[108],"first":[111],"work":[112],"shows":[114],"execution":[116],"excavator,":[125],"all":[127],"DoFs":[128],"locomotion.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
