{"id":"https://openalex.org/W4386822465","doi":"https://doi.org/10.1109/lra.2023.3313923","title":"Barry: A High-Payload and Agile Quadruped Robot","display_name":"Barry: A High-Payload and Agile Quadruped Robot","publication_year":2023,"publication_date":"2023-09-18","ids":{"openalex":"https://openalex.org/W4386822465","doi":"https://doi.org/10.1109/lra.2023.3313923"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3313923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313923","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"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 Lab, ETH Zurich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-0595-3938","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027377212","display_name":"Nikita Rudin","orcid":"https://orcid.org/0000-0001-5893-0348"},"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":"Nikita Rudin","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-5893-0348","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109639151","display_name":"Lennart Nachtigall","orcid":null},"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":"Lennart Nachtigall","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zürich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092893143","display_name":"Konrad Mayer","orcid":null},"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":"Konrad Mayer","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zürich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092893144","display_name":"Fabian Tischhauser","orcid":null},"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":"Fabian Tischhauser","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zürich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zürich, 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 Lab, ETH Zurich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4285-4990","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zürich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5051485036"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":2.4486,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.89099729,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"8","issue":"11","first_page":"6939","last_page":"6946"},"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":0.9979000091552734,"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":0.9498000144958496,"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/payload","display_name":"Payload (computing)","score":0.9318276643753052},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7014119625091553},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6316311359405518},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5876085162162781},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5032729506492615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4754994809627533},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4375768303871155},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36172008514404297},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3614140748977661},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11199533939361572},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.06840255856513977}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.9318276643753052},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7014119625091553},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6316311359405518},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5876085162162781},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5032729506492615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4754994809627533},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4375768303871155},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36172008514404297},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3614140748977661},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11199533939361572},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06840255856513977},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3313923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313923","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8899999856948853,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1744300241","https://openalex.org/W1975230295","https://openalex.org/W1979445726","https://openalex.org/W2071666790","https://openalex.org/W2102513453","https://openalex.org/W2111904757","https://openalex.org/W2153084626","https://openalex.org/W2159220301","https://openalex.org/W2164452475","https://openalex.org/W2326849350","https://openalex.org/W2531596132","https://openalex.org/W2573227850","https://openalex.org/W2764255492","https://openalex.org/W2894318605","https://openalex.org/W2909553221","https://openalex.org/W2911087563","https://openalex.org/W2912365230","https://openalex.org/W2951112635","https://openalex.org/W2968213087","https://openalex.org/W2977389550","https://openalex.org/W2980792850","https://openalex.org/W3006449166","https://openalex.org/W3007035358","https://openalex.org/W3041790910","https://openalex.org/W3129694752","https://openalex.org/W3131341185","https://openalex.org/W4225669925","https://openalex.org/W4247290769","https://openalex.org/W4286963241","https://openalex.org/W6637616753","https://openalex.org/W6701596953","https://openalex.org/W6754930374","https://openalex.org/W6801964084","https://openalex.org/W6931322754"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2907444959","https://openalex.org/W4379531983","https://openalex.org/W2062545952","https://openalex.org/W2382369005","https://openalex.org/W2524189091","https://openalex.org/W3214437493","https://openalex.org/W3208322962","https://openalex.org/W4382047812","https://openalex.org/W2028162744"],"abstract_inverted_index":{"This":[0],"letter":[1],"introduces":[2],"Barry,":[3],"a":[4,18,87,96,117],"dynamically":[5],"balancing":[6],"quadruped":[7],"robot":[8],"optimized":[9],"for":[10],"high":[11,79,88],"payload":[12,127],"capabilities":[13,47],"and":[14,21,30,50,68,110],"efficiency.":[15,80],"It":[16],"presents":[17],"new":[19,45,65],"high-torque":[20],"low-inertia":[22],"leg":[23,66],"design,":[24],"which":[25,114],"includes":[26],"custom-built":[27],"high-efficiency":[28],"actuators":[29],"transparent,":[31],"sensorless":[32],"transmissions.":[33],"The":[34,54,81],"robot's":[35],"reinforcement":[36],"learning-based":[37],"controller":[38,57],"is":[39,84],"trained":[40],"to":[41,48,73,116],"fully":[42],"leverage":[43],"the":[44,52,60,64,126],"hardware":[46],"balance":[49],"steer":[51],"robot.":[53],"newly":[55],"developed":[56],"can":[58],"manage":[59],"non-linearities":[61],"introduced":[62],"by":[63,86],"design":[67],"handle":[69],"unmodeled":[70],"payloads":[71],"up":[72],"90":[74],"kg":[75],"while":[76],"operating":[77],"at":[78,121],"approach's":[82],"efficacy":[83],"demonstrated":[85],"payload-to-weight":[89],"ratio":[90,98],"verified":[91],"with":[92,95],"multiple":[93],"tests,":[94],"maximum":[97],"of":[99,112,119,125],"2":[100],"on":[101],"flat":[102],"terrain.":[103],"Experiments":[104],"also":[105],"demonstrate":[106],"Barry's":[107],"power":[108],"consumption":[109],"cost":[111],"transport,":[113],"converge":[115],"value":[118],"0.7":[120],"1.4":[122],"m/s,":[123],"regardless":[124],"mass.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":7}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}