{"id":"https://openalex.org/W4389665356","doi":"https://doi.org/10.1109/iros55552.2023.10341824","title":"Dynamic Hybrid Locomotion and Jumping for Wheeled-Legged Quadrupeds","display_name":"Dynamic Hybrid Locomotion and Jumping for Wheeled-Legged Quadrupeds","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665356","doi":"https://doi.org/10.1109/iros55552.2023.10341824"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341824","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341824","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5019211964","display_name":"Mojtaba Hosseini","orcid":"https://orcid.org/0000-0002-1932-2486"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mojtaba Hosseini","raw_affiliation_strings":["University of Bonn,Autonomous Intelligent Systems,Germany","Autonomous Intelligent Systems, University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Autonomous Intelligent Systems,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Autonomous Intelligent Systems, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027210829","display_name":"Diego Rodr\u00edguez","orcid":"https://orcid.org/0000-0002-1416-7392"},"institutions":[{"id":"https://openalex.org/I4210163914","display_name":"DxTerity (United States)","ror":"https://ror.org/05gn3js43","country_code":"US","type":"company","lineage":["https://openalex.org/I4210163914"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Diego Rodriguez","raw_affiliation_strings":["Dexterity Inc.,USA","Dexterity Inc., USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dexterity Inc.,USA","institution_ids":["https://openalex.org/I4210163914"]},{"raw_affiliation_string":"Dexterity Inc., USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["University of Bonn,Autonomous Intelligent Systems,Germany","Autonomous Intelligent Systems, University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Autonomous Intelligent Systems,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Autonomous Intelligent Systems, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5019211964"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.7452,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.68014139,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"793","last_page":"799"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9575999975204468,"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"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9538999795913696,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.7270117998123169},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7138878107070923},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6948620676994324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5870565176010132},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.562917172908783},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.538790762424469},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.504400372505188},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.46777740120887756},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.46638110280036926},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.4577847719192505},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44514885544776917},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4310583472251892},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3531434237957001},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31739091873168945},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2779296040534973},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2382080852985382},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12311181426048279}],"concepts":[{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.7270117998123169},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7138878107070923},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6948620676994324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5870565176010132},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.562917172908783},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.538790762424469},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.504400372505188},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.46777740120887756},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.46638110280036926},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.4577847719192505},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44514885544776917},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4310583472251892},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3531434237957001},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31739091873168945},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2779296040534973},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2382080852985382},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12311181426048279},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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/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/iros55552.2023.10341824","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341824","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1502718064","https://openalex.org/W2061063863","https://openalex.org/W2107955862","https://openalex.org/W2158782408","https://openalex.org/W2571115941","https://openalex.org/W2744484133","https://openalex.org/W2793991136","https://openalex.org/W2811027829","https://openalex.org/W2909331752","https://openalex.org/W2913792742","https://openalex.org/W2950546634","https://openalex.org/W2951633861","https://openalex.org/W2968031102","https://openalex.org/W2972810470","https://openalex.org/W2981658108","https://openalex.org/W3003397085","https://openalex.org/W3011481717","https://openalex.org/W3093326211","https://openalex.org/W3101175487","https://openalex.org/W3101817006","https://openalex.org/W4317877696","https://openalex.org/W6767349745"],"related_works":["https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W3005657145","https://openalex.org/W2102380529","https://openalex.org/W1997180817","https://openalex.org/W3104537609","https://openalex.org/W4319297798","https://openalex.org/W1643150164","https://openalex.org/W3127708841","https://openalex.org/W4390099652"],"abstract_inverted_index":{"Hybrid":[0],"wheeled-legged":[1,65],"quadrupeds":[2],"have":[3],"the":[4,26,42,89,119,124,132,137],"potential":[5],"to":[6,28,32,40,62,95,113],"navigate":[7],"challenging":[8],"terrain":[9],"with":[10,109],"agility":[11],"and":[12,14,57,93,136,143],"speed":[13],"over":[15,34],"long":[16],"distances.":[17],"However,":[18],"obstacles":[19,35,69],"can":[20],"impede":[21],"their":[22,38],"progress":[23],"by":[24,117],"requiring":[25],"robots":[27,52],"either":[29],"slow":[30],"down":[31],"step":[33],"or":[36],"modify":[37],"path":[39],"circumvent":[41],"obstacles.":[43],"We":[44,102],"propose":[45],"a":[46,76,82,105],"motion":[47],"optimization":[48],"framework":[49],"for":[50,107],"quadruped":[51],"that":[53,80],"incorporates":[54],"non-steerable":[55],"wheels":[56],"dynamic":[58,97],"jumps,":[59],"enabling":[60],"them":[61],"perform":[63],"hybrid":[64],"locomotion":[66],"while":[67],"overcoming":[68],"without":[70],"slowing":[71],"down.":[72],"Our":[73,126],"approach":[74],"involves":[75],"model":[77,87],"predictive":[78],"controller":[79],"uses":[81],"time-varying":[83],"rigid":[84],"body":[85],"dynamics":[86],"of":[88],"robot,":[90],"including":[91],"legs":[92],"wheels,":[94],"track":[96],"motions":[98],"such":[99],"as":[100],"jumping.":[101],"also":[103],"introduce":[104],"method":[106,127],"driving":[108],"minimal":[110],"leg":[111],"swings":[112],"reduce":[114],"energy":[115],"consumption":[116],"sparing":[118],"effort":[120],"involved":[121],"in":[122],"lifting":[123],"wheels.":[125],"was":[128],"tested":[129],"successfully":[130],"on":[131],"wheeled":[133],"Mini":[134],"Cheetah":[135],"Unitree":[138],"AlienGo":[139],"robots.":[140],"Further":[141],"videos":[142],"results":[144],"are":[145],"available":[146],"at":[147],"https://www.ais.uni-bonn.de/\u223chosseini/iros2023":[148]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
