{"id":"https://openalex.org/W4312699513","doi":"https://doi.org/10.1109/iros47612.2022.9981359","title":"On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots","display_name":"On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312699513","doi":"https://doi.org/10.1109/iros47612.2022.9981359"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981359","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5033842396","display_name":"Bowen Weng","orcid":"https://orcid.org/0000-0002-7868-9747"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bowen Weng","raw_affiliation_strings":["Ohio State University,Electrical and Computer Engineering,Columbus,OH,USA","Electrical and Computer Engineering, Ohio State University, Columbus, OH, USA"],"affiliations":[{"raw_affiliation_string":"Ohio State University,Electrical and Computer Engineering,Columbus,OH,USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Electrical and Computer Engineering, Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025408291","display_name":"Guillermo A. Castillo","orcid":"https://orcid.org/0000-0003-1326-5836"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guillermo A. Castillo","raw_affiliation_strings":["Ohio State University,Electrical and Computer Engineering,Columbus,OH,USA","Electrical and Computer Engineering, Ohio State University, Columbus, OH, USA"],"affiliations":[{"raw_affiliation_string":"Ohio State University,Electrical and Computer Engineering,Columbus,OH,USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Electrical and Computer Engineering, Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5118983736","display_name":"Wei Zhang","orcid":"https://orcid.org/0009-0007-9625-1697"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["Southern University of Science and Technology,Department of Mechanical and Energy Engineering,Shenzhen,China","Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Mechanical and Energy Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069228447","display_name":"Ayonga Hereid","orcid":"https://orcid.org/0000-0002-4156-2013"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ayonga Hereid","raw_affiliation_strings":["Ohio State University,Mechanical and Aerospace Engineering,Columbus,OH,USA","Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH, USA"],"affiliations":[{"raw_affiliation_string":"Ohio State University,Mechanical and Aerospace Engineering,Columbus,OH,USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033842396"],"corresponding_institution_ids":["https://openalex.org/I52357470"],"apc_list":null,"apc_paid":null,"fwci":1.9239,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.87718769,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5179","last_page":"5186"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.991100013256073,"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":0.991100013256073,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9897000193595886,"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/T11663","display_name":"Viral Infectious Diseases and Gene Expression in Insects","score":0.9326000213623047,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7962952852249146},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.7256816625595093},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6627357006072998},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5016942024230957},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4940221905708313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4536610543727875},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.42500990629196167},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4066304862499237}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7962952852249146},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.7256816625595093},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6627357006072998},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5016942024230957},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4940221905708313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4536610543727875},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.42500990629196167},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4066304862499237},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981359","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2153342620","https://openalex.org/W2158782408","https://openalex.org/W2171505650","https://openalex.org/W2438413413","https://openalex.org/W2590655739","https://openalex.org/W2789158833","https://openalex.org/W2896947111","https://openalex.org/W2956114360","https://openalex.org/W2963315892","https://openalex.org/W2967815054","https://openalex.org/W2972798201","https://openalex.org/W2991158008","https://openalex.org/W3024414633","https://openalex.org/W3038194455","https://openalex.org/W3091173443","https://openalex.org/W3105484905","https://openalex.org/W3108127520","https://openalex.org/W3118609680","https://openalex.org/W3150249871","https://openalex.org/W3154055073","https://openalex.org/W3202795759","https://openalex.org/W3208186533","https://openalex.org/W4212766024","https://openalex.org/W4225931182","https://openalex.org/W6810937540"],"related_works":["https://openalex.org/W2770234245","https://openalex.org/W96612179","https://openalex.org/W4229499248","https://openalex.org/W2566006169","https://openalex.org/W2987774938","https://openalex.org/W4256492088","https://openalex.org/W2332067308","https://openalex.org/W3097667865","https://openalex.org/W2028594013","https://openalex.org/W3160356182"],"abstract_inverted_index":{"The":[0,103,136],"dynamic":[1,134],"response":[2],"of":[3,26,72,82,85,112,146,170,174,214,222],"the":[4,23,48,68,87,96,100,109,113,165,175,199,204,209,215,220,230,234],"legged":[5,27,74,114,127,148,177,235],"robot":[6,75,88,97,115,149,236],"locomotion":[7,150],"is":[8,89,98,139],"non-Lipschitz":[9],"and":[10,21,33,39,51,92,122,133,159,191,208],"can":[11,36,105,201],"be":[12,37],"stochastic":[13],"due":[14],"to":[15,142,219],"environmental":[16],"uncertainties.":[17],"To":[18],"test,":[19],"validate,":[20],"characterize":[22],"safety":[24,70,124,206,217],"performance":[25,71,125,211],"robots,":[28],"existing":[29,231],"solutions":[30],"on":[31,182,188],"observed":[32,216],"inferred":[34],"risk":[35],"incomplete":[38],"sampling":[40,62],"inefficient.":[41],"Some":[42],"formal":[43],"verification":[44],"methods":[45,163],"suffer":[46],"from":[47,152],"model":[49],"precision":[50],"other":[52],"surrogate":[53],"assumptions.":[54],"In":[55],"this":[56],"paper,":[57],"we":[58,196],"propose":[59],"a":[60,73,83,144,168],"scenario":[61],"based":[63,162],"testing":[64],"framework":[65,104,138],"that":[66,198],"characterizes":[67],"overall":[69,205],"by":[76,229],"specifying":[77],"(i)":[78],"where":[79],"(in":[80],"terms":[81],"set":[84],"states)":[86],"potentially":[90],"safe,":[91],"(ii)":[93],"how":[94],"safe":[95],"within":[99],"specified":[101],"set.":[102],"also":[106],"help":[107],"certify":[108],"commercial":[110],"deployment":[111],"in":[116,164,233],"real-world":[117],"environment":[118],"along":[119],"with":[120,129,185],"human":[121],"compare":[123],"among":[126],"robots":[128,178],"different":[130],"mechanical":[131],"structures":[132],"properties.":[135],"proposed":[137],"further":[140],"deployed":[141],"evaluate":[143],"group":[145],"state-of-the-art":[147],"controllers":[151],"various":[153],"model-based,":[154],"deep":[155],"neural":[156],"network":[157],"involved,":[158],"reinforcement":[160],"learning":[161],"literature.":[166,237],"Among":[167],"series":[169],"intended":[171],"work":[172,232],"domains":[173],"studied":[176],"(e.g.":[179],"tracking":[180],"speed":[181],"sloped":[183],"surface,":[184],"abrupt":[186],"changes":[187],"demanded":[189],"velocity,":[190],"against":[192],"adversarial":[193],"push-over":[194],"disturbances),":[195],"show":[197],"method":[200],"adequately":[202],"capture":[203],"characterization":[207],"subtle":[210],"insights.":[212],"Many":[213],"outcomes,":[218],"best":[221],"our":[223],"knowledge,":[224],"have":[225],"never":[226],"been":[227],"reported":[228]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}