{"id":"https://openalex.org/W4416749713","doi":"https://doi.org/10.1109/iros60139.2025.11247127","title":"Learning to Exploit Leg Odometry Enables Terrain-Aware Quadrupedal Locomotion","display_name":"Learning to Exploit Leg Odometry Enables Terrain-Aware Quadrupedal Locomotion","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749713","doi":"https://doi.org/10.1109/iros60139.2025.11247127"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101984501","display_name":"Yong Zhou","orcid":"https://orcid.org/0000-0003-2924-7341"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Zhou","raw_affiliation_strings":["Wuhan University,School of Computer Science,Wuhan,China,430072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,School of Computer Science,Wuhan,China,430072","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102918834","display_name":"Jiawei Jiang","orcid":"https://orcid.org/0000-0003-0051-0046"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Jiang","raw_affiliation_strings":["Wuhan University,School of Computer Science,Wuhan,China,430072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,School of Computer Science,Wuhan,China,430072","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060042752","display_name":"Bo Du","orcid":"https://orcid.org/0000-0002-0059-8458"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Du","raw_affiliation_strings":["Wuhan University,School of Computer Science,Wuhan,China,430072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,School of Computer Science,Wuhan,China,430072","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086625735","display_name":"Zengmao Wang","orcid":"https://orcid.org/0000-0002-9326-0316"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zengmao Wang","raw_affiliation_strings":["Wuhan University,School of Computer Science,Wuhan,China,430072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,School of Computer Science,Wuhan,China,430072","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48540748,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21289","last_page":"21295"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9473000168800354,"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":0.9473000168800354,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.018300000578165054,"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"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.007400000002235174,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8015999794006348},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7016000151634216},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.6222000122070312},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.5256999731063843},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.49570000171661377},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.42340001463890076},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40149998664855957},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.3882000148296356},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.37630000710487366}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8015999794006348},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7016000151634216},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6442999839782715},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.6222000122070312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6067000031471252},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5978999733924866},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.5256999731063843},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.49570000171661377},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.42340001463890076},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40149998664855957},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.3882000148296356},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.37630000710487366},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3479999899864197},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32580000162124634},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.32190001010894775},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.31869998574256897},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.3124000132083893},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.30869999527931213},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.3059000074863434},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.30300000309944153},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.30169999599456787},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2971000075340271},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2799000144004822},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.2669000029563904},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.25380000472068787}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2736557071","https://openalex.org/W2739330054","https://openalex.org/W2788200022","https://openalex.org/W2911087563","https://openalex.org/W2951360122","https://openalex.org/W2963184939","https://openalex.org/W3003817470","https://openalex.org/W3010768390","https://openalex.org/W3033353027","https://openalex.org/W3038975720","https://openalex.org/W3039737909","https://openalex.org/W3093922502","https://openalex.org/W3175254947","https://openalex.org/W4226143977","https://openalex.org/W4241459016","https://openalex.org/W4283787029","https://openalex.org/W4285159888","https://openalex.org/W4289950772","https://openalex.org/W4378696928","https://openalex.org/W4383108196","https://openalex.org/W4383108438","https://openalex.org/W4386075970","https://openalex.org/W4386156806","https://openalex.org/W4390481291","https://openalex.org/W4392763392","https://openalex.org/W4401414941","https://openalex.org/W4401415792"],"related_works":[],"abstract_inverted_index":{"The":[0],"geometry":[1],"of":[2,32,65,112,159],"terrain":[3],"is":[4],"crucial":[5],"for":[6,141],"developing":[7],"terrain-aware":[8,71],"locomotion":[9,15,34,82],"policies.":[10],"Recent":[11],"advancements":[12],"in":[13,41,45,130,169],"quadrupedal":[14,67],"based":[16],"on":[17,20,36,162],"learning":[18],"rely":[19],"depth":[21,27],"information":[22],"obtained":[23],"from":[24,91],"LiDARs":[25],"and":[26,105,134],"cameras.":[28],"Despite":[29],"the":[30,62,100,110,122,156],"capabilities":[31],"these":[33],"policies":[35],"terrains,":[37],"they":[38],"pose":[39],"challenges":[40],"processing":[42],"high-dimensional":[43],"data":[44],"real":[46,164],"time":[47],"with":[48,80],"onboard":[49],"hardware.":[50],"In":[51],"this":[52],"study,":[53],"we":[54,154],"develop":[55],"a":[56,66,75,81,95,127,163],"lightweight":[57],"framework":[58,114],"that":[59,121],"utilizes":[60],"only":[61],"intrinsic":[63],"sensors":[64],"robot":[68,101,123],"to":[69,102,126],"facilitate":[70],"locomotion.":[72],"We":[73],"introduce":[74],"learning-based":[76,146],"leg":[77,92,147],"odometry,":[78],"integrated":[79],"policy":[83],"trained":[84],"through":[85,115],"reinforcement":[86],"learning.":[87],"Utilizing":[88],"blind":[89],"localization":[90],"odometry":[93,148],"alongside":[94],"pre-constructed":[96],"height":[97],"map":[98],"enables":[99],"navigate":[103],"steps":[104],"stairs":[106],"without":[107],"incident.We":[108],"assess":[109],"efficacy":[111],"our":[113,118,145,160],"simulations,":[116],"where":[117],"results":[119],"indicate":[120],"achieves":[124],"up":[125],"17%":[128],"improvement":[129],"successful":[131],"traversal":[132],"rates":[133],"requires":[135],"fewer":[136],"point":[137],"samples.":[138],"By":[139],"compensating":[140],"slippage":[142],"during":[143],"locomotion,":[144],"surpasses":[149],"traditional":[150],"inertialleg":[151],"odometry.":[152],"Lastly,":[153],"validate":[155],"practical":[157],"applicability":[158],"models":[161],"robot,":[165],"confirming":[166],"their":[167],"effectiveness":[168],"real-world":[170],"settings.":[171]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}