{"id":"https://openalex.org/W7116914992","doi":"https://doi.org/10.1109/mra.2025.3639794","title":"Learning Perceptive Legged Robot Locomotion in the Real World: A Systematic Review","display_name":"Learning Perceptive Legged Robot Locomotion in the Real World: A Systematic Review","publication_year":2025,"publication_date":"2025-12-23","ids":{"openalex":"https://openalex.org/W7116914992","doi":"https://doi.org/10.1109/mra.2025.3639794"},"language":null,"primary_location":{"id":"doi:10.1109/mra.2025.3639794","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mra.2025.3639794","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics & Automation Magazine","raw_type":"journal-article"},"type":"review","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/mra.2025.3639794","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010254464","display_name":"Irfan Tito Kurniawan","orcid":"https://orcid.org/0000-0002-8684-3599"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Irfan Tito Kurniawan","raw_affiliation_strings":["Neuro-Robotics Laboratory, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8684-3599","affiliations":[{"raw_affiliation_string":"Neuro-Robotics Laboratory, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014928067","display_name":"Wei Zhu","orcid":"https://orcid.org/0000-0003-4251-1741"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wei Zhu","raw_affiliation_strings":["Neuro-Robotics Laboratory, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4251-1741","affiliations":[{"raw_affiliation_string":"Neuro-Robotics Laboratory, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072945772","display_name":"Dai Owaki","orcid":"https://orcid.org/0000-0003-1217-3892"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Dai Owaki","raw_affiliation_strings":["Neuro-Robotics Laboratory, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1217-3892","affiliations":[{"raw_affiliation_string":"Neuro-Robotics Laboratory, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5121038959","display_name":"Mitsuhiro Hayashibe","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuhiro Hayashibe","raw_affiliation_strings":["Neuro-Robotics Laboratory, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6179-5706","affiliations":[{"raw_affiliation_string":"Neuro-Robotics Laboratory, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36949517,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"33","issue":"1","first_page":"8","last_page":"23"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9448999762535095,"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":0.9448999762535095,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.01940000057220459,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.009100000374019146,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.8578000068664551},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7020000219345093},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.527899980545044},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5238000154495239},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5224999785423279},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.4927999973297119},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.4708000123500824}],"concepts":[{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.8578000068664551},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7020000219345093},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5468999743461609},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.527899980545044},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5238000154495239},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5224999785423279},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.4927999973297119},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4819999933242798},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4724000096321106},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.4708000123500824},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.4212999939918518},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.3758000135421753},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3181999921798706},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31520000100135803},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.31299999356269836},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31150001287460327},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.289000004529953},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26510000228881836},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.2549000084400177},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mra.2025.3639794","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mra.2025.3639794","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics & Automation Magazine","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/mra.2025.3639794","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mra.2025.3639794","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics & Automation Magazine","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":74,"referenced_works":["https://openalex.org/W1988763687","https://openalex.org/W2012932483","https://openalex.org/W2156174987","https://openalex.org/W2512579198","https://openalex.org/W2568901734","https://openalex.org/W2767050701","https://openalex.org/W2788200022","https://openalex.org/W2798036083","https://openalex.org/W2911087563","https://openalex.org/W2913921102","https://openalex.org/W2950302787","https://openalex.org/W2963841023","https://openalex.org/W2964198579","https://openalex.org/W2990747716","https://openalex.org/W3003919497","https://openalex.org/W3010768390","https://openalex.org/W3089564096","https://openalex.org/W3093922502","https://openalex.org/W3101570653","https://openalex.org/W3108412994","https://openalex.org/W3109424835","https://openalex.org/W3112664346","https://openalex.org/W3175254947","https://openalex.org/W3203069471","https://openalex.org/W3204240397","https://openalex.org/W3206363916","https://openalex.org/W3206574325","https://openalex.org/W3206762371","https://openalex.org/W3206833690","https://openalex.org/W3209332701","https://openalex.org/W4200187710","https://openalex.org/W4200214129","https://openalex.org/W4200235497","https://openalex.org/W4205430897","https://openalex.org/W4283734789","https://openalex.org/W4296162931","https://openalex.org/W4300892751","https://openalex.org/W4309323738","https://openalex.org/W4310746161","https://openalex.org/W4312238192","https://openalex.org/W4312551478","https://openalex.org/W4312574175","https://openalex.org/W4312900898","https://openalex.org/W4321487093","https://openalex.org/W4383097669","https://openalex.org/W4383103765","https://openalex.org/W4383108196","https://openalex.org/W4383108326","https://openalex.org/W4383108576","https://openalex.org/W4386038305","https://openalex.org/W4386075970","https://openalex.org/W4386362954","https://openalex.org/W4386883490","https://openalex.org/W4387830572","https://openalex.org/W4389666823","https://openalex.org/W4390481291","https://openalex.org/W4390938336","https://openalex.org/W4392763392","https://openalex.org/W4394897910","https://openalex.org/W4396910086","https://openalex.org/W4399437104","https://openalex.org/W4401414693","https://openalex.org/W4401415792","https://openalex.org/W4401416328","https://openalex.org/W4401416668","https://openalex.org/W4401416867","https://openalex.org/W4401417117","https://openalex.org/W4402300083","https://openalex.org/W4403331801","https://openalex.org/W4405632062","https://openalex.org/W4405778675","https://openalex.org/W4406779533","https://openalex.org/W4413925793","https://openalex.org/W4416747907"],"related_works":[],"abstract_inverted_index":{"Perception":[0],"is":[1],"essential":[2],"for":[3,108],"legged":[4,28,39,71,150],"locomotion":[5,29,41,73,103,112],"as":[6,127,129],"it":[7],"enables":[8],"robots":[9],"to":[10,45,57,65,85],"anticipate":[11],"upcoming":[12],"terrains":[13],"and":[14,27,74,98,104,119,125,143],"obstacles,":[15],"facilitating":[16],"adaptive":[17],"traversal":[18],"of":[19,36,51,139],"challenging":[20],"environments.":[21],"Recent":[22],"advancements":[23],"in":[24,48,69,148],"learning":[25],"methodologies":[26,107],"have":[30],"fostered":[31],"research":[32,78,146],"on":[33],"the":[34,96,106,116,130,140],"integration":[35],"perception":[37,110],"into":[38,111],"robot":[40,72,151],"controllers,":[42],"allowing":[43],"them":[44],"operate":[46],"effectively":[47],"a":[49,136],"variety":[50],"real-world":[52],"environments":[53],"that":[54],"are":[55],"inaccessible":[56],"wheeled":[58],"or":[59],"tracked":[60],"robots.":[61],"This":[62],"review":[63],"aims":[64],"summarize":[66],"recent":[67],"developments":[68],"perceptive":[70,102,149],"identify":[75],"potential":[76,144],"future":[77,145],"directions.":[79],"Specifically,":[80],"we":[81,134],"restrict":[82],"our":[83],"scope":[84],"studies":[86],"employing":[87],"learning-based":[88],"techniques.":[89],"We":[90,114],"examine":[91],"two":[92],"primary":[93],"topics:":[94],"1)":[95],"applications":[97],"capabilities":[99],"afforded":[100],"by":[101],"2)":[105],"integrating":[109],"systems.":[113],"survey":[115],"characteristics,":[117],"progress,":[118],"challenges":[120,142],"associated":[121],"with":[122],"each":[123],"application":[124],"methodology":[126],"well":[128],"decisions":[131],"involved.":[132],"Finally,":[133],"provide":[135],"comprehensive":[137],"overview":[138],"current":[141],"perspectives":[147],"locomotion.":[152]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-12-23T00:00:00"}