{"id":"https://openalex.org/W4309344906","doi":"https://doi.org/10.1109/smc53654.2022.9945546","title":"Adversarial joint attacks on legged robots","display_name":"Adversarial joint attacks on legged robots","publication_year":2022,"publication_date":"2022-10-09","ids":{"openalex":"https://openalex.org/W4309344906","doi":"https://doi.org/10.1109/smc53654.2022.9945546"},"language":"en","primary_location":{"id":"doi:10.1109/smc53654.2022.9945546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53654.2022.9945546","pdf_url":null,"source":{"id":"https://openalex.org/S4363607746","display_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5079796697","display_name":"Takuto Otomo","orcid":null},"institutions":[{"id":"https://openalex.org/I159385669","display_name":"Chiba University","ror":"https://ror.org/01hjzeq58","country_code":"JP","type":"education","lineage":["https://openalex.org/I159385669"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuto Otomo","raw_affiliation_strings":["Chiba University,Graduate School of Science and Engineering,Chiba,Japan","Graduate School of Science and Engineering, Chiba University, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chiba University,Graduate School of Science and Engineering,Chiba,Japan","institution_ids":["https://openalex.org/I159385669"]},{"raw_affiliation_string":"Graduate School of Science and Engineering, Chiba University, Chiba, Japan","institution_ids":["https://openalex.org/I159385669"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055384327","display_name":"Hiroshi Kera","orcid":"https://orcid.org/0000-0002-9830-0436"},"institutions":[{"id":"https://openalex.org/I159385669","display_name":"Chiba University","ror":"https://ror.org/01hjzeq58","country_code":"JP","type":"education","lineage":["https://openalex.org/I159385669"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Kera","raw_affiliation_strings":["Chiba University,Graduate School of Engineering,Chiba,Japan","Graduate School of Engineering, Chiba University, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chiba University,Graduate School of Engineering,Chiba,Japan","institution_ids":["https://openalex.org/I159385669"]},{"raw_affiliation_string":"Graduate School of Engineering, Chiba University, Chiba, Japan","institution_ids":["https://openalex.org/I159385669"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010514962","display_name":"Kazuhiko Kawamoto","orcid":"https://orcid.org/0000-0003-3701-1961"},"institutions":[{"id":"https://openalex.org/I159385669","display_name":"Chiba University","ror":"https://ror.org/01hjzeq58","country_code":"JP","type":"education","lineage":["https://openalex.org/I159385669"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiko Kawamoto","raw_affiliation_strings":["Chiba University,Graduate School of Engineering,Chiba,Japan","Graduate School of Engineering, Chiba University, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chiba University,Graduate School of Engineering,Chiba,Japan","institution_ids":["https://openalex.org/I159385669"]},{"raw_affiliation_string":"Graduate School of Engineering, Chiba University, Chiba, Japan","institution_ids":["https://openalex.org/I159385669"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2776,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.79496025,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"676","last_page":"681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9526000022888184,"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":0.9526000022888184,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9433000087738037,"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/robot","display_name":"Robot","score":0.7139444947242737},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6689045429229736},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6512578129768372},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6270113587379456},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5852775573730469},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5609503388404846},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.5310737490653992},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4667055606842041},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.41139882802963257}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7139444947242737},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6689045429229736},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6512578129768372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6270113587379456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5852775573730469},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5609503388404846},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.5310737490653992},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4667055606842041},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.41139882802963257},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/smc53654.2022.9945546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53654.2022.9945546","pdf_url":null,"source":{"id":"https://openalex.org/S4363607746","display_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1191599655","https://openalex.org/W1595159159","https://openalex.org/W1673923490","https://openalex.org/W1945616565","https://openalex.org/W2158782408","https://openalex.org/W2602963933","https://openalex.org/W2736601468","https://openalex.org/W2773525213","https://openalex.org/W2911506106","https://openalex.org/W2914994663","https://openalex.org/W2949103145","https://openalex.org/W2996343955","https://openalex.org/W2998401161","https://openalex.org/W3098237412","https://openalex.org/W3124696433","https://openalex.org/W3200885897","https://openalex.org/W3206620955","https://openalex.org/W3214620142","https://openalex.org/W4293846201","https://openalex.org/W6627932998","https://openalex.org/W6637162671","https://openalex.org/W6640425456","https://openalex.org/W6733049761","https://openalex.org/W6735677848","https://openalex.org/W6739868092","https://openalex.org/W6741002519","https://openalex.org/W6747027214","https://openalex.org/W6758269446","https://openalex.org/W6759312646","https://openalex.org/W6762427411","https://openalex.org/W6774966973"],"related_works":["https://openalex.org/W2502115930","https://openalex.org/W2482350142","https://openalex.org/W4246396837","https://openalex.org/W3126451824","https://openalex.org/W1561927205","https://openalex.org/W2745063183","https://openalex.org/W3191453585","https://openalex.org/W4297672492","https://openalex.org/W3097667865","https://openalex.org/W3160356182"],"abstract_inverted_index":{"We":[0,106],"address":[1],"adversarial":[2,41,65,71,114,170],"attacks":[3,23,185],"on":[4],"the":[5,8,21,27,40,44,49,54,64,74,78,98,112,128,133,149,154,162,169,173,180,183],"actuators":[6,50],"at":[7],"joints":[9],"of":[10,31,48,97,102,192],"legged":[11,32,94],"robots":[12,95],"trained":[13,81],"by":[14,82],"deep":[15,83,103],"reinforcement":[16,84,104],"learning.":[17,85,105],"The":[18,86],"vulnerability":[19],"to":[20,43,93,168,179],"joint":[22,184],"can":[24,51,90,146,186],"significantly":[25,52],"impact":[26],"safety":[28],"and":[29,56,100,120,132],"robustness":[30],"robots.":[33,61],"In":[34,125,157],"this":[35],"study,":[36],"we":[37,68,141,159],"demonstrate":[38],"that":[39,143,161],"perturbations":[42,152],"torque":[45,66,151],"control":[46],"signals":[47],"reduce":[53],"rewards":[55],"cause":[57],"walking":[58,194],"instability":[59],"in":[60,137],"To":[62],"find":[63,142,148],"perturbations,":[67,171],"develop":[69],"black-box":[70,113],"attacks,":[72],"where":[73],"adversary":[75],"cannot":[76],"access":[77],"neural":[79],"networks":[80],"black":[87],"box":[88],"attack":[89],"be":[91,187],"applied":[92],"regardless":[96],"architecture":[99],"algorithms":[101],"employ":[107],"three":[108,155],"search":[109],"methods":[110],"for":[111,189],"attacks:":[115],"random":[116],"search,":[117],"differential":[118,144],"evolution,":[119],"numerical":[121],"gradient":[122],"descent":[123],"methods.":[124,156],"experiments":[126],"with":[127],"quadruped":[129,163],"robot":[130,135,164,175,193],"Ant-v2":[131,165],"bipedal":[134,174],"Humanoid-v2,":[136],"OpenAI":[138],"Gym":[139],"environments,":[140],"evolution":[145],"efficiently":[147],"strongest":[150],"among":[153],"addition,":[158],"realize":[160],"is":[166,177],"vulnerable":[167],"whereas":[172],"Humanoid-v2":[176],"robust":[178],"perturbations.":[181],"Consequently,":[182],"used":[188],"proactive":[190],"diagnosis":[191],"instability.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}