{"id":"https://openalex.org/W3001473907","doi":"https://doi.org/10.1109/lra.2020.2969160","title":"Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet","display_name":"Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet","publication_year":2020,"publication_date":"2020-01-24","ids":{"openalex":"https://openalex.org/W3001473907","doi":"https://doi.org/10.1109/lra.2020.2969160","mag":"3001473907"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2969160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969160","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/392778","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051485036","display_name":"Giorgio Valsecchi","orcid":"https://orcid.org/0000-0003-0595-3938"},"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":true,"raw_author_name":"Giorgio Valsecchi","raw_affiliation_strings":["Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-0595-3938","affiliations":[{"raw_affiliation_string":"Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058327332","display_name":"Ruben Grandia","orcid":"https://orcid.org/0000-0002-8971-6843"},"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":"Ruben Grandia","raw_affiliation_strings":["Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-8971-6843","affiliations":[{"raw_affiliation_string":"Robotic Systems Laboratory, 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 Laboratory, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4285-4990","affiliations":[{"raw_affiliation_string":"Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5051485036"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":1.9162,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.84841799,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"5","issue":"2","first_page":"1548","last_page":"1555"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9973999857902527,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9904999732971191,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7496002316474915},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7020900249481201},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.6905089616775513},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5822266340255737},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.567750096321106},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5517725944519043},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.44953328371047974},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.41037893295288086},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3895934820175171},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3635663390159607},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35694408416748047},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3554246127605438},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32449793815612793},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16655370593070984},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12491089105606079},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11493593454360962},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07366234064102173}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7496002316474915},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7020900249481201},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.6905089616775513},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5822266340255737},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.567750096321106},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5517725944519043},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.44953328371047974},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.41037893295288086},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3895934820175171},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3635663390159607},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35694408416748047},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3554246127605438},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32449793815612793},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16655370593070984},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12491089105606079},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11493593454360962},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07366234064102173},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2020.2969160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969160","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/392778","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/392778","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":"IEEE Robotics and Automation Letters, 5 (2)","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"doi:10.3929/ethz-b-000392778","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000392778","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:20.500.11850/392778","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/392778","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":"IEEE Robotics and Automation Letters, 5 (2)","raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[{"score":0.6499999761581421,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1498151138","https://openalex.org/W1574422894","https://openalex.org/W1801543234","https://openalex.org/W1969366849","https://openalex.org/W1977995507","https://openalex.org/W2013736914","https://openalex.org/W2073210150","https://openalex.org/W2073288601","https://openalex.org/W2091829036","https://openalex.org/W2111966261","https://openalex.org/W2127374107","https://openalex.org/W2128855182","https://openalex.org/W2133927820","https://openalex.org/W2141042553","https://openalex.org/W2166045965","https://openalex.org/W2417728065","https://openalex.org/W2470094176","https://openalex.org/W2531596132","https://openalex.org/W2540393540","https://openalex.org/W2571115941","https://openalex.org/W2744484133","https://openalex.org/W2764255492","https://openalex.org/W2788200022","https://openalex.org/W2793991136","https://openalex.org/W2909553221","https://openalex.org/W2914981446","https://openalex.org/W2963465704","https://openalex.org/W2968213087","https://openalex.org/W2969923225","https://openalex.org/W3105612804","https://openalex.org/W4236914428","https://openalex.org/W4243820192","https://openalex.org/W6728876756"],"related_works":["https://openalex.org/W3000336260","https://openalex.org/W3118845583","https://openalex.org/W2061621042","https://openalex.org/W2032786669","https://openalex.org/W4384828212","https://openalex.org/W2115112145","https://openalex.org/W2589929471","https://openalex.org/W2586109849","https://openalex.org/W2377701914","https://openalex.org/W2034104116"],"abstract_inverted_index":{"Sensing":[0],"of":[1,18,37,113],"the":[2,12,16,19,24,35,58,86,97,104,120,128,131],"terrain":[3,21,88],"shape":[4],"is":[5,66],"crucial":[6],"for":[7,28,48],"legged":[8],"robots":[9,52],"deployed":[10],"in":[11,76,100,111,123],"real":[13],"world":[14],"since":[15],"knowledge":[17],"local":[20,87],"inclination":[22,89],"at":[23],"contact":[25,98,115],"points":[26],"allows":[27],"an":[29],"optimized":[30],"force":[31],"distribution":[32],"that":[33],"minimizes":[34],"risk":[36],"slipping.":[38],"In":[39],"this":[40],"letter,":[41],"we":[42],"present":[43,59],"a":[44],"reactive":[45],"locomotion":[46],"strategy":[47],"torque":[49],"controllable":[50],"quadruped":[51],"based":[53],"on":[54],"sensorized":[55],"feet.":[56],"Since":[57],"approach":[60,129],"works":[61],"without":[62],"exteroceptive":[63],"sensing,":[64],"it":[65],"robust":[67],"against":[68],"degraded":[69],"vision.":[70],"Inertial":[71],"and":[72,90,126],"force/torque":[73],"sensors":[74],"implemented":[75],"specially":[77],"designed":[78],"feet":[79],"with":[80,130],"articulated":[81],"passive":[82],"ankle":[83],"joints":[84],"measure":[85],"interaction":[91],"forces.":[92],"The":[93],"proposed":[94,121],"controller":[95],"exploits":[96],"null-space":[99],"order":[101],"to":[102,107],"minimize":[103],"tangential":[105],"forces":[106],"prevent":[108],"slippage":[109],"even":[110],"case":[112],"extreme":[114],"conditions.":[116],"We":[117],"experimentally":[118],"tested":[119],"method":[122],"laboratory":[124],"experiments":[125],"validated":[127],"quadrupedal":[132],"robot":[133],"ANYmal.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
