{"id":"https://openalex.org/W4389666493","doi":"https://doi.org/10.1109/iros55552.2023.10342440","title":"Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller","display_name":"Quadrupedal Footstep Planning Using Learned Motion Models of a Black-Box Controller","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666493","doi":"https://doi.org/10.1109/iros55552.2023.10342440"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342440","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342440","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/A5092543551","display_name":"Ilyass Taouil","orcid":null},"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"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["DE","IT"],"is_corresponding":false,"raw_author_name":"Ilyass Taouil","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy,16163","Autonomous Intelligent Systems, University of Bonn, Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Autonomous Intelligent Systems, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090269671","display_name":"Giulio Turrisi","orcid":"https://orcid.org/0000-0003-3007-3553"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulio Turrisi","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059212494","display_name":"Daniel Schleich","orcid":"https://orcid.org/0000-0002-7808-6743"},"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":"Daniel Schleich","raw_affiliation_strings":["University of Bonn,Autonomous Intelligent Systems,Bonn,Germany,53115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Autonomous Intelligent Systems,Bonn,Germany,53115","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086426608","display_name":"Victor Barasuol","orcid":"https://orcid.org/0000-0003-4966-5743"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Victor Barasuol","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010033061","display_name":"Claudio Semini","orcid":"https://orcid.org/0000-0002-3034-4686"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Semini","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"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,Bonn,Germany,53115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Autonomous Intelligent Systems,Bonn,Germany,53115","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1025,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.42467217,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"800","last_page":"806"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9934999942779541,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9897000193595886,"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/traverse","display_name":"Traverse","score":0.8457194566726685},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7404849529266357},{"id":"https://openalex.org/keywords/motion-controller","display_name":"Motion controller","score":0.6794246435165405},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6455152034759521},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6271224021911621},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.614698052406311},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5947128534317017},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5881270170211792},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4897642135620117},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.46102601289749146},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45500800013542175},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4473186135292053},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4401642084121704},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4173988103866577},{"id":"https://openalex.org/keywords/black-box","display_name":"Black box","score":0.4136106073856354},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40061792731285095},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3553059697151184},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.095635324716568}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8457194566726685},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7404849529266357},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.6794246435165405},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6455152034759521},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6271224021911621},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.614698052406311},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5947128534317017},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5881270170211792},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4897642135620117},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.46102601289749146},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45500800013542175},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4473186135292053},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4401642084121704},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4173988103866577},{"id":"https://openalex.org/C94966114","wikidata":"https://www.wikidata.org/wiki/Q29256","display_name":"Black box","level":2,"score":0.4136106073856354},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40061792731285095},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3553059697151184},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.095635324716568},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342440","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342440","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":[{"id":"https://metadata.un.org/sdg/11","score":0.41999998688697815,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W2036604449","https://openalex.org/W2101207292","https://openalex.org/W2125356896","https://openalex.org/W2138671676","https://openalex.org/W2161427949","https://openalex.org/W2173111992","https://openalex.org/W2739330054","https://openalex.org/W2771813345","https://openalex.org/W2784947652","https://openalex.org/W2788200022","https://openalex.org/W2809054577","https://openalex.org/W2974922583","https://openalex.org/W3010768390","https://openalex.org/W3012062338","https://openalex.org/W3089564096","https://openalex.org/W3090033167","https://openalex.org/W3102994022","https://openalex.org/W3104753760","https://openalex.org/W3112664346","https://openalex.org/W3130162259","https://openalex.org/W3206363916","https://openalex.org/W4310746161","https://openalex.org/W4378696928","https://openalex.org/W6845010705"],"related_works":["https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W2354203711","https://openalex.org/W2376683934","https://openalex.org/W2370564582","https://openalex.org/W2369744211","https://openalex.org/W3152555282","https://openalex.org/W2360747016","https://openalex.org/W2157511525"],"abstract_inverted_index":{"Legged":[0],"robots":[1,41],"are":[2,43],"increasingly":[3],"entering":[4],"new":[5,72],"domains":[6],"and":[7,11,14,33,73,129,154],"applications,":[8],"including":[9],"search":[10],"rescue,":[12],"inspection,":[13],"logistics.":[15],"However,":[16],"for":[17,115],"such":[18,51,116],"a":[19,71,82,93,110,117,138],"systems":[20],"to":[21,31,55,101,124,147,166],"be":[22,29,64],"valuable":[23],"in":[24],"real-world":[25],"scenarios,":[26],"they":[27],"must":[28],"able":[30,54,100],"autonomously":[32],"robustly":[34],"navigate":[35],"irregular":[36,169],"terrains.":[37],"In":[38,77],"many":[39],"cases,":[40],"that":[42,88,97,119],"sold":[44],"on":[45,160],"the":[46,68,90,141,149,164],"market":[47],"do":[48],"not":[49],"provide":[50],"abilities,":[52],"being":[53],"perform":[56],"only":[57,99],"blind":[58],"locomotion.":[59],"Furthermore,":[60],"their":[61],"controller":[62,96,118],"cannot":[63],"easily":[65],"modified":[66],"by":[67],"end-user,":[69],"requiring":[70],"time-consuming":[74],"control":[75],"synthesis.":[76],"this":[78],"work,":[79],"we":[80,108],"present":[81],"fast":[83],"local":[84],"motion":[85,113],"planning":[86],"pipeline":[87],"extends":[89],"capabilities":[91],"of":[92,112,126,140],"black-box":[94],"walking":[95],"is":[98],"track":[102],"high-level":[103,121,156],"reference":[104],"velocities.":[105],"More":[106],"precisely,":[107],"learn":[109],"set":[111],"models":[114,136],"maps":[120],"velocity":[122,157],"commands":[123,158],"Center":[125],"Mass":[127],"(CoM)":[128],"footstep":[130,152],"motions.":[131],"We":[132],"then":[133],"integrate":[134],"these":[135],"with":[137],"variant":[139],"<tex":[142],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[143],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$A$</tex>":[144],"*":[145],"algorithm":[146],"plan":[148],"CoM":[150],"trajectory,":[151],"sequences,":[153],"corresponding":[155],"based":[159],"visual":[161],"information,":[162],"allowing":[163],"quadruped":[165],"safely":[167],"traverse":[168],"terrains":[170],"at":[171],"demand.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}