{"id":"https://openalex.org/W4404317095","doi":"https://doi.org/10.1109/mra.2024.3487322","title":"Reinforcement Learning for High-Speed Quadrupedal Locomotion With Motor Operating Region Constraints: Mitigating Motor Model Discrepancies through Torque Clipping in Realistic Motor Operating Region","display_name":"Reinforcement Learning for High-Speed Quadrupedal Locomotion With Motor Operating Region Constraints: Mitigating Motor Model Discrepancies through Torque Clipping in Realistic Motor Operating Region","publication_year":2024,"publication_date":"2024-11-13","ids":{"openalex":"https://openalex.org/W4404317095","doi":"https://doi.org/10.1109/mra.2024.3487322"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2024.3487322","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2024.3487322","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","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/A5016125108","display_name":"Young-Ha Shin","orcid":"https://orcid.org/0000-0002-1475-0027"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Young-Ha Shin","raw_affiliation_strings":["Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Yuseong-gu, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-1475-0027","affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Yuseong-gu, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001497374","display_name":"Tae-Gyu Song","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Tae-Gyu Song","raw_affiliation_strings":["Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Yuseong-gu, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0006-9817-8684","affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Yuseong-gu, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059975269","display_name":"Gwanghyeon Ji","orcid":"https://orcid.org/0000-0001-6478-6426"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gwanghyeon Ji","raw_affiliation_strings":["Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Yuseong-gu, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-6478-6426","affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Yuseong-gu, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090151532","display_name":"Hae-Won Park","orcid":"https://orcid.org/0000-0001-6130-6589"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hae-Won Park","raw_affiliation_strings":["Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Yuseong-gu, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-6130-6589","affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Yuseong-gu, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5016125108"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18327212,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"32","issue":"2","first_page":"49","last_page":"59"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9871000051498413,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9871000051498413,"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":0.9800999760627747,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9779999852180481,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.6262226104736328},{"id":"https://openalex.org/keywords/clipping","display_name":"Clipping (morphology)","score":0.5782121419906616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5682955384254456},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5462555289268494},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.48477548360824585},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.4163787364959717},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.41611596941947937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3589881658554077},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34348493814468384},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1903248429298401},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10902982950210571},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0692467987537384}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6262226104736328},{"id":"https://openalex.org/C2776848632","wikidata":"https://www.wikidata.org/wiki/Q853463","display_name":"Clipping (morphology)","level":2,"score":0.5782121419906616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5682955384254456},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5462555289268494},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.48477548360824585},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.4163787364959717},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.41611596941947937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3589881658554077},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34348493814468384},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1903248429298401},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10902982950210571},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0692467987537384},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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":1,"locations":[{"id":"doi:10.1109/mra.2024.3487322","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2024.3487322","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G3197540779","display_name":null,"funder_award_id":"915027201","funder_id":"https://openalex.org/F4320334874","funder_display_name":"Defense Acquisition Program Administration"}],"funders":[{"id":"https://openalex.org/F4320334874","display_name":"Defense Acquisition Program Administration","ror":"https://ror.org/04bjg9m96"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1978102433","https://openalex.org/W1995248384","https://openalex.org/W2125691646","https://openalex.org/W2593412525","https://openalex.org/W2612230838","https://openalex.org/W2779458783","https://openalex.org/W2911087563","https://openalex.org/W3000354568","https://openalex.org/W3093922502","https://openalex.org/W3175254947","https://openalex.org/W3206363598","https://openalex.org/W4226143977","https://openalex.org/W4283787029","https://openalex.org/W4285102619","https://openalex.org/W4311486620","https://openalex.org/W4317987839","https://openalex.org/W4396910086","https://openalex.org/W4401070717"],"related_works":["https://openalex.org/W4388251424","https://openalex.org/W2008498579","https://openalex.org/W2923272690","https://openalex.org/W2559825912","https://openalex.org/W2064963663","https://openalex.org/W1966935220","https://openalex.org/W3100731831","https://openalex.org/W2806616984","https://openalex.org/W4323670354","https://openalex.org/W2139075120"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,10,86],"method":[4],"for":[5],"achieving":[6],"high-speed":[7],"running":[8],"of":[9,28],"quadruped":[11,88,104],"robot":[12],"by":[13],"considering":[14],"the":[15,29,34,45,81,98],"actuator":[16,30],"torque\u2013speed":[17,51],"operating":[18],"region":[19],"in":[20,33,44],"reinforcement":[21],"learning.":[22],"The":[23,53],"physical":[24],"properties":[25],"and":[26,72],"constraints":[27],"are":[31,42],"included":[32],"training":[35],"process":[36],"to":[37,49,58,67,77,93],"reduce":[38],"state":[39],"transitions":[40],"that":[41],"infeasible":[43],"real":[46],"world":[47],"due":[48,76],"motor":[50,60],"limitations.":[52],"gait":[54],"reward":[55],"is":[56,97],"designed":[57],"distribute":[59],"torque":[61],"evenly":[62],"across":[63],"all":[64],"legs,":[65],"contributing":[66],"more":[68],"balanced":[69],"power":[70],"usage":[71],"mitigating":[73],"performance":[74],"bottlenecks":[75],"single-motor":[78],"saturation.":[79],"With":[80],"trained":[82],"policy,":[83],"KAIST":[84],"Hound,":[85],"45-kg":[87],"robot,":[89],"can":[90],"run":[91],"up":[92],"6.5":[94],"m/s,":[95],"which":[96],"fastest":[99],"speed":[100],"among":[101],"electric":[102],"motor-based":[103],"robots.":[105]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}