{"id":"https://openalex.org/W4379507295","doi":"https://doi.org/10.1109/lra.2023.3281290","title":"Learning Complex Motor Skills for Legged Robot Fall Recovery","display_name":"Learning Complex Motor Skills for Legged Robot Fall Recovery","publication_year":2023,"publication_date":"2023-05-30","ids":{"openalex":"https://openalex.org/W4379507295","doi":"https://doi.org/10.1109/lra.2023.3281290"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3281290","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3281290","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"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://discovery.ucl.ac.uk/10175510/1/Zhibin_Learning_Complex_Motor_Skills_for_Legged_Robot_Fall_Recovery_RAL_Revision.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019129514","display_name":"Chuanyu Yang","orcid":"https://orcid.org/0000-0001-9082-5193"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chuanyu Yang","raw_affiliation_strings":["Shenzhen Amigaga Technology Company Ltd., Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-9082-5193","affiliations":[{"raw_affiliation_string":"Shenzhen Amigaga Technology Company Ltd., Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018304039","display_name":"Can Pu","orcid":"https://orcid.org/0000-0003-2758-4205"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Can Pu","raw_affiliation_strings":["Shenzhen Amigaga Technology Company Ltd., Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-2758-4205","affiliations":[{"raw_affiliation_string":"Shenzhen Amigaga Technology Company Ltd., Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041360325","display_name":"Guiyang Xin","orcid":"https://orcid.org/0000-0003-0921-7487"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]},{"id":"https://openalex.org/I4210092944","display_name":"Dalian University","ror":"https://ror.org/00g2ypp58","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092944"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guiyang Xin","raw_affiliation_strings":["School of Optoelectronic Engineering and Instrumentation Science, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-0921-7487","affiliations":[{"raw_affiliation_string":"School of Optoelectronic Engineering and Instrumentation Science, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992","https://openalex.org/I4210092944"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100436755","display_name":"Jie Zhang","orcid":"https://orcid.org/0000-0002-5305-7911"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhang","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5305-7911","affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["Department of Computer Science, University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-6357-7419","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7002,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.83019404,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":"7","first_page":"4307","last_page":"4314"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9627000093460083,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9598000049591064,"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/initialization","display_name":"Initialization","score":0.789934515953064},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7872967720031738},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7832656502723694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7811636924743652},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6126949191093445},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5571486949920654},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5359395742416382},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4431007504463196},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.43507203459739685},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34325873851776123},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.14059564471244812},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09070572257041931}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.789934515953064},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7872967720031738},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7832656502723694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7811636924743652},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6126949191093445},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5571486949920654},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5359395742416382},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4431007504463196},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.43507203459739685},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34325873851776123},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.14059564471244812},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09070572257041931},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3281290","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3281290","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:eprints.ucl.ac.uk.OAI2:10175510","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10175510/","pdf_url":"https://discovery.ucl.ac.uk/10175510/1/Zhibin_Learning_Complex_Motor_Skills_for_Legged_Robot_Fall_Recovery_RAL_Revision.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters , 8 (7) pp. 4307-4314. (2023)","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10175510","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10175510/","pdf_url":"https://discovery.ucl.ac.uk/10175510/1/Zhibin_Learning_Complex_Motor_Skills_for_Legged_Robot_Fall_Recovery_RAL_Revision.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters , 8 (7) pp. 4307-4314. (2023)","raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4379507295.pdf","grobid_xml":"https://content.openalex.org/works/W4379507295.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W100935095","https://openalex.org/W1500216732","https://openalex.org/W2042408133","https://openalex.org/W2089059393","https://openalex.org/W2101340954","https://openalex.org/W2107742267","https://openalex.org/W2737050134","https://openalex.org/W2776406584","https://openalex.org/W2907451530","https://openalex.org/W2911087563","https://openalex.org/W2949582037","https://openalex.org/W2987886924","https://openalex.org/W2991032472","https://openalex.org/W3000914927","https://openalex.org/W3006422628","https://openalex.org/W3039737909","https://openalex.org/W3099574169","https://openalex.org/W3104883169","https://openalex.org/W3111294788","https://openalex.org/W3200871490","https://openalex.org/W3206762371","https://openalex.org/W3206804182","https://openalex.org/W3216801340","https://openalex.org/W4229044820","https://openalex.org/W4288626282","https://openalex.org/W6747473740","https://openalex.org/W6758741661"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W3176564347","https://openalex.org/W2355833770","https://openalex.org/W1985458517","https://openalex.org/W3031039437","https://openalex.org/W183202219","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913"],"abstract_inverted_index":{"Falling":[0],"is":[1,35,102],"inevitable":[2],"for":[3,37,70,84,88],"legged":[4],"robots":[5,39],"in":[6,22],"challenging":[7],"real-world":[8],"scenarios,":[9],"where":[10],"environments":[11],"are":[12,16,74,127],"unstructured":[13],"and":[14,30,108,116,129],"situations":[15],"unpredictable,":[17],"such":[18],"as":[19],"uneven":[20],"terrain":[21],"the":[23,42,53,94,122],"wild.":[24],"Hence,":[25],"to":[26,40,47,65,76,93,104],"recover":[27],"from":[28],"falls":[29],"achieve":[31],"all-terrain":[32],"traversability,":[33],"it":[34],"essential":[36],"intelligent":[38],"possess":[41],"complex":[43],"motor":[44],"skills":[45],"required":[46],"resume":[48],"operation.":[49],"To":[50],"go":[51],"beyond":[52],"limitation":[54],"of":[55],"handcrafted":[56],"control,":[57],"we":[58,119],"investigated":[59],"a":[60,81,91],"deep":[61],"reinforcement":[62],"learning":[63],"approach":[64],"learn":[66],"generalized":[67],"feedback-control":[68],"policies":[69,126],"fall":[71,124],"recovery":[72,125],"that":[73,121],"robust":[75],"external":[77],"disturbances.":[78],"We":[79],"proposed":[80,99],"design":[82],"guideline":[83],"selecting":[85],"key":[86],"states":[87],"initialization,":[89],"including":[90,112],"comparison":[92],"random":[95],"state":[96],"initialization.":[97],"The":[98],"learning-based":[100],"pipeline":[101],"applicable":[103],"different":[105],"robot":[106],"models":[107],"their":[109],"corner":[110],"cases,":[111],"both":[113],"small-/large-size":[114],"bipeds":[115],"quadrupeds.":[117],"Further,":[118],"show":[120],"learned":[123],"hardware-feasible":[128],"can":[130],"be":[131],"implemented":[132],"on":[133],"real":[134],"robots.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":9}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}