{"id":"https://openalex.org/W3002602482","doi":"https://doi.org/10.1109/robio49542.2019.8961870","title":"Probabilistic Inferences on Quadruped Robots: An Experimental Comparison","display_name":"Probabilistic Inferences on Quadruped Robots: An Experimental Comparison","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3002602482","doi":"https://doi.org/10.1109/robio49542.2019.8961870","mag":"3002602482"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5013884257","display_name":"Jiahui Zhu","orcid":"https://orcid.org/0000-0001-5849-7871"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahui Zhu","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,Shanghai,China","School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037659560","display_name":"Chunyan Rong","orcid":"https://orcid.org/0000-0002-9543-5810"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunyan Rong","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,Shanghai,China","School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007414540","display_name":"Andr\u00e9 Rosendo","orcid":"https://orcid.org/0000-0003-4062-5390"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Andre Rosendo","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,Shanghai,China","School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0997,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.46961378,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2019","issue":null,"first_page":"1892","last_page":"1898"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9905999898910522,"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":0.9905999898910522,"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":0.9886999726295471,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9840999841690063,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7709774374961853},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6704810261726379},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6623120307922363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45937809348106384}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7709774374961853},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6704810261726379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6623120307922363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45937809348106384}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio49542.2019.8961870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"mag:3040821616","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=202002254521744941","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1502922572","https://openalex.org/W1738827650","https://openalex.org/W1966784014","https://openalex.org/W2061144551","https://openalex.org/W2091568354","https://openalex.org/W2131241448","https://openalex.org/W2140190473","https://openalex.org/W2156174987","https://openalex.org/W2171565529","https://openalex.org/W2336687883","https://openalex.org/W2344075909","https://openalex.org/W2396471471","https://openalex.org/W2762006445","https://openalex.org/W2789558188","https://openalex.org/W2873705236","https://openalex.org/W2956133328","https://openalex.org/W4289761856","https://openalex.org/W4324106947","https://openalex.org/W6629804754","https://openalex.org/W6678911119","https://openalex.org/W6702989015","https://openalex.org/W6704744639","https://openalex.org/W6753146606"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"Due":[0],"to":[1,57,74],"the":[2,10,113,116,121,136,140,150],"reality":[3],"gap,":[4],"computer":[5],"software":[6],"cannot":[7],"fully":[8],"model":[9],"physical":[11],"robot":[12,61],"in":[13,34,66,98,115],"its":[14,107],"environment,":[15],"with":[16,120],"noise,":[17],"ground":[18],"friction,":[19],"and":[20,50,69,158],"energy":[21],"consumption.":[22],"Consequently,":[23],"a":[24,59],"limited":[25],"number":[26],"of":[27,125,154],"researchers":[28],"work":[29],"on":[30],"applying":[31],"machine":[32],"learning":[33],"real-world":[35],"robots.":[36],"In":[37],"this":[38],"paper,":[39],"we":[40,128],"use":[41],"two":[42,72,126],"intelligent":[43],"black-box":[44],"optimization":[45],"algorithms,":[46],"Bayesian":[47],"Optimization":[48],"(BO)":[49],"Covariance":[51],"Matrix":[52],"Adaptation":[53],"Evolution":[54],"Strategy":[55],"(CMA-ES),":[56],"solve":[58],"quadruped":[60,133],"gait's":[62],"parametric":[63,152],"search":[64,153],"problem":[65],"10":[67],"dimensions,":[68],"compare":[70],"these":[71],"methods":[73,92],"find":[75,94,130],"which":[76],"one":[77],"is":[78,139,146],"more":[79],"suitable":[80],"for":[81,132,149],"legged":[82,155],"robots'":[83],"controller":[84,123],"parameters":[85,124],"tuning.":[86,162],"Our":[87],"results":[88],"show":[89],"that":[90,131],"both":[91],"can":[93],"an":[95],"optimal":[96],"solution":[97],"130":[99],"iterations.":[100],"BO":[101],"converges":[102],"faster":[103],"than":[104],"CMA-ES":[105,111],"within":[106],"constrained":[108],"range,":[109],"while":[110],"finds":[112],"optimum":[114],"continuous":[117],"space.":[118],"Compared":[119],"specific":[122],"methods,":[127],"also":[129],"robot's":[134],"oscillators,":[135],"angular":[137],"amplitude":[138],"most":[141],"important":[142],"parameter.":[143],"Thus,":[144],"it":[145],"very":[147],"beneficial":[148],"quick":[151],"robots\u2019":[156],"controllers":[157],"avoids":[159],"time-consuming":[160],"manual":[161]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}