{"id":"https://openalex.org/W7135239933","doi":"https://doi.org/10.1109/lra.2026.3673991","title":"Gait-Parameterized Reinforcement Learning for a Hydraulic Quadruped Robot","display_name":"Gait-Parameterized Reinforcement Learning for a Hydraulic Quadruped Robot","publication_year":2026,"publication_date":"2026-03-13","ids":{"openalex":"https://openalex.org/W7135239933","doi":"https://doi.org/10.1109/lra.2026.3673991"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3673991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3673991","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/A5036551337","display_name":"Sungho Lee","orcid":"https://orcid.org/0000-0001-5964-0182"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungho Lee","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-5964-0182","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082276951","display_name":"Jungyeong Kim","orcid":"https://orcid.org/0000-0002-7774-1507"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Jungyeong Kim","raw_affiliation_strings":["Hydraulic Robot Laboratory, Human&#x2013;Centric Robotics R&amp;D Department, Korea Institute of Industrial Technology, Ansan, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-7774-1507","affiliations":[{"raw_affiliation_string":"Hydraulic Robot Laboratory, Human&#x2013;Centric Robotics R&amp;D Department, Korea Institute of Industrial Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I89004649","https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sangshin Park","orcid":"https://orcid.org/0000-0002-4246-5186"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Sangshin Park","raw_affiliation_strings":["Hydraulic Robot Laboratory, Human&#x2013;Centric Robotics R&amp;D Department, Korea Institute of Industrial Technology, Ansan, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-4246-5186","affiliations":[{"raw_affiliation_string":"Hydraulic Robot Laboratory, Human&#x2013;Centric Robotics R&amp;D Department, Korea Institute of Industrial Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I89004649","https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040830034","display_name":"J. H. Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Jin Tak Kim","raw_affiliation_strings":["Hydraulic Robot Laboratory, Human&#x2013;Centric Robotics R&amp;D Department, Korea Institute of Industrial Technology, Ansan, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-9895-6032","affiliations":[{"raw_affiliation_string":"Hydraulic Robot Laboratory, Human&#x2013;Centric Robotics R&amp;D Department, Korea Institute of Industrial Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I89004649","https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067947458","display_name":"Yonghwan Jeong","orcid":"https://orcid.org/0000-0001-9566-822X"},"institutions":[{"id":"https://openalex.org/I88761825","display_name":"Korea University of Science and Technology","ror":"https://ror.org/000qzf213","country_code":"KR","type":"education","lineage":["https://openalex.org/I88761825"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghwan Jeong","raw_affiliation_strings":["Robotics, University of Science and Technology (UST), Daejon, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-9566-822X","affiliations":[{"raw_affiliation_string":"Robotics, University of Science and Technology (UST), Daejon, South Korea","institution_ids":["https://openalex.org/I88761825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009941574","display_name":"Hyun Jun Cho","orcid":null},"institutions":[{"id":"https://openalex.org/I88761825","display_name":"Korea University of Science and Technology","ror":"https://ror.org/000qzf213","country_code":"KR","type":"education","lineage":["https://openalex.org/I88761825"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun Jun Cho","raw_affiliation_strings":["Robotics, University of Science and Technology (UST), Daejon, South Korea"],"raw_orcid":"https://orcid.org/0009-0007-6026-1201","affiliations":[{"raw_affiliation_string":"Robotics, University of Science and Technology (UST), Daejon, South Korea","institution_ids":["https://openalex.org/I88761825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129066026","display_name":"Hyouk Ryeol Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyouk Ryeol Choi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-2902-7453","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026485905","display_name":"Jungsan Cho","orcid":"https://orcid.org/0000-0002-4548-880X"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Jungsan Cho","raw_affiliation_strings":["Hydraulic Robot Laboratory, Human&#x2013;Centric Robotics R&amp;D Department, Korea Institute of Industrial Technology, Ansan, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-4548-880X","affiliations":[{"raw_affiliation_string":"Hydraulic Robot Laboratory, Human&#x2013;Centric Robotics R&amp;D Department, Korea Institute of Industrial Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I89004649","https://openalex.org/I4210096735"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33446637,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"5725","last_page":"5732"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.8636000156402588,"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":0.8636000156402588,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.01940000057220459,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.01360000018030405,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.621399998664856},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.38370001316070557},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37929999828338623},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3601999878883362},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29789999127388},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.2946999967098236}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.621399998664856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5339000225067139},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3959999978542328},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.38370001316070557},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37929999828338623},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3702999949455261},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3601999878883362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35850000381469727},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29789999127388},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2946999967098236},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28769999742507935},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28529998660087585},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2728999853134155},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3673991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3673991","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F2292562827","display_name":"Korea Research Institute for Defense Technology Planning and Advancement","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Designing":[0],"reward":[1],"functions":[2],"for":[3,23,106],"reinforcement":[4],"learning":[5],"(RL)-based":[6],"quadruped":[7],"locomotion":[8,57,115,175,194],"often":[9],"requires":[10],"extensive":[11],"trial-and-error,":[12],"limiting":[13],"efficiency":[14,101],"and":[15,62,80,92,102,124,139,154,178,183,196],"interpretability.":[16],"Lack":[17],"of":[18],"interpretability":[19],"is":[20,59,146,155],"particularly":[21],"critical":[22],"large-scale":[24],"hydraulic":[25],"quadrupeds,":[26],"where":[27],"undetected":[28],"unstable":[29],"behaviors":[30],"during":[31],"deployment":[32],"can":[33],"cause":[34],"significant":[35],"mechanical":[36],"damage.":[37],"This":[38],"paper":[39],"presents":[40],"a":[41,131,150],"training":[42,100],"framework":[43,98],"that":[44,58,114,144,192],"integrates":[45],"biologically":[46],"inspired":[47],"gait":[48,67,70,95,119],"parameters":[49],"into":[50],"RL":[51],"policies,":[52],"allowing":[53],"robots":[54],"to":[55,88,157],"learn":[56],"both":[60],"system-aware":[61],"human-interpretable.":[63],"The":[64,97],"actor":[65],"outputs":[66],"parameters\u2014such":[68],"as":[69,121],"period,":[71],"phase":[72],"offset,":[73],"stride":[74],"length,":[75],"foot":[76],"clearance,":[77],"duty":[78],"factor,":[79],"base":[81],"height\u2014which":[82],"are":[83],"coupled":[84],"with":[85],"gait-shaping":[86],"rewards":[87],"encourage":[89],"intent\u2013execution":[90],"alignment":[91],"physically":[93],"plausible":[94],"patterns.":[96],"improves":[99],"provides":[103],"interpretable":[104,190],"signals":[105],"monitoring":[107],"policy":[108],"behavior.":[109],"In":[110],"simulation,":[111],"we":[112],"show":[113],"follows":[116],"the":[117,163],"self-generated":[118],"intents":[120],"soft":[122],"constraints,":[123],"ablation":[125,138],"results":[126],"demonstrate":[127],"faster":[128],"convergence":[129],"than":[130],"pure-RL":[132],"baseline.":[133],"We":[134,161],"further":[135],"present":[136],"reward-term":[137],"coefficient":[140,159],"sensitivity":[141],"analyses,":[142],"indicating":[143],"performance":[145],"not":[147],"driven":[148],"by":[149],"single":[151],"shaping":[152],"term":[153],"robust":[156,173],"moderate":[158],"changes.":[160],"validate":[162],"approach":[164],"on":[165],"BeTheX-Q":[166],"(over":[167],"1.8":[168],"m,":[169],"350":[170],"kg),":[171],"demonstrating":[172],"real-world":[174],"across":[176,198],"2":[177],"4":[179],"km/h":[180],"walking,":[181],"stepping-stones,":[182],"external":[184],"disturbances.":[185],"Finally,":[186],"gait-parameter":[187],"analysis":[188],"reveals":[189],"trends":[191],"reflect":[193],"intent":[195],"adaptation":[197],"varying":[199],"conditions.":[200]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-14T00:00:00"}
