{"id":"https://openalex.org/W4392188060","doi":"https://doi.org/10.1109/tie.2024.3360604","title":"Reinforcement Learning and Sim-to-Real Transfer of Reorientation and Landing Control for Quadruped Robots on Asteroids","display_name":"Reinforcement Learning and Sim-to-Real Transfer of Reorientation and Landing Control for Quadruped Robots on Asteroids","publication_year":2024,"publication_date":"2024-02-27","ids":{"openalex":"https://openalex.org/W4392188060","doi":"https://doi.org/10.1109/tie.2024.3360604"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3360604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3360604","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Transactions on Industrial Electronics","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/A5080560570","display_name":"Ji Qi","orcid":"https://orcid.org/0000-0002-0101-6720"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ji Qi","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-0101-6720","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033616367","display_name":"Haibo Gao","orcid":"https://orcid.org/0000-0002-6501-656X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6501-656X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002265944","display_name":"Huanli Su","orcid":"https://orcid.org/0009-0002-8743-8031"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huanli Su","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0002-8743-8031","affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085649381","display_name":"Mingying Huo","orcid":"https://orcid.org/0000-0002-7887-3181"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingying Huo","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7887-3181","affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059277742","display_name":"Haitao Yu","orcid":"https://orcid.org/0000-0002-1304-3988"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Yu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1304-3988","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617483","display_name":"Zongquan Deng","orcid":"https://orcid.org/0000-0003-2432-8329"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongquan Deng","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2432-8329","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0437,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.87332434,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"71","issue":"11","first_page":"14392","last_page":"14400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.9980999827384949,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9965000152587891,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7536239624023438},{"id":"https://openalex.org/keywords/asteroid","display_name":"Asteroid","score":0.7153325080871582},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6863337159156799},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.5229535698890686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4957038164138794},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4878883361816406},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4583300054073334},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42468133568763733},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39903655648231506},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32103681564331055},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3024882674217224},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.2688424587249756},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19199833273887634},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09285223484039307}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7536239624023438},{"id":"https://openalex.org/C58142911","wikidata":"https://www.wikidata.org/wiki/Q3863","display_name":"Asteroid","level":2,"score":0.7153325080871582},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6863337159156799},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.5229535698890686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4957038164138794},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4878883361816406},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4583300054073334},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42468133568763733},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39903655648231506},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32103681564331055},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3024882674217224},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.2688424587249756},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19199833273887634},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09285223484039307}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3360604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3360604","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1095934921","display_name":null,"funder_award_id":"HIT.DZJJ.2023071","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G2000514598","display_name":null,"funder_award_id":"U22B2013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2438740506","display_name":null,"funder_award_id":"12272104","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2887087865","display_name":null,"funder_award_id":"52175011","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2338964423","https://openalex.org/W2605102758","https://openalex.org/W2736601468","https://openalex.org/W2911087563","https://openalex.org/W2971099763","https://openalex.org/W3007768948","https://openalex.org/W3020910157","https://openalex.org/W3088310808","https://openalex.org/W3094944390","https://openalex.org/W3120778962","https://openalex.org/W3163785432","https://openalex.org/W3170422092","https://openalex.org/W3172321357","https://openalex.org/W3179145950","https://openalex.org/W3187378924","https://openalex.org/W3197128667","https://openalex.org/W3197219002","https://openalex.org/W3203069471","https://openalex.org/W3207591725","https://openalex.org/W3216349085","https://openalex.org/W4212771972","https://openalex.org/W4285102283","https://openalex.org/W4285310987","https://openalex.org/W4286375451","https://openalex.org/W4295046613","https://openalex.org/W4309579143","https://openalex.org/W4319865683","https://openalex.org/W4383108459","https://openalex.org/W4384025110","https://openalex.org/W4384518901","https://openalex.org/W6741002519"],"related_works":["https://openalex.org/W3132798239","https://openalex.org/W102552355","https://openalex.org/W1658896159","https://openalex.org/W2113652819","https://openalex.org/W1969040061","https://openalex.org/W1605514983","https://openalex.org/W2129374135","https://openalex.org/W4380685600","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0],"surface":[1],"exploration":[2],"missions,":[3],"wheeled":[4],"planetary":[5],"vehicles":[6],"have":[7,30],"difficulty":[8],"traveling":[9],"on":[10,49,90,131],"asteroids":[11],"due":[12],"to":[13,33,71,107,121,152],"their":[14],"weak":[15,59,139],"gravitational":[16,62,140],"fields.":[17],"With":[18],"the":[19,42,58,66,109,146,154,157,162,168,171],"rapid":[20],"development":[21],"of":[22,45,64,156,170],"hardware":[23],"performance":[24,155],"and":[25,60,78,102,129,150,164,175],"control":[26,87,114,159],"methods,":[27],"quadruped":[28,47,134],"robots":[29],"great":[31],"potential":[32],"serve":[34],"in":[35],"asteroid":[36],"exploration.":[37],"When":[38],"deploying":[39],"or":[40],"controlling":[41],"jumping":[43],"motions":[44],"a":[46,76,85,122,132],"robot":[48,67],"an":[50,72],"asteroid,":[51],"landing":[52],"stability":[53],"must":[54],"be":[55,69,127],"guaranteed.":[56],"Under":[57],"irregular":[61],"fields":[63],"asteroids,":[65],"should":[68],"reoriented":[70],"appropriate":[73],"attitude":[74],"for":[75,145],"smooth":[77],"stable":[79],"landing.":[80],"To":[81],"achieve":[82],"this":[83],"objective,":[84],"model-free":[86],"method":[88],"based":[89],"reinforcement":[91],"learning":[92,104],"(RL)":[93],"was":[94,119,144],"proposed.":[95],"Sim-to-real":[96],"transfer":[97,103,177],"methods":[98],"including":[99],"domain":[100],"randomization":[101],"were":[105],"proposed":[106,158,172],"address":[108],"sim-to-real":[110,176],"problem.":[111],"The":[112],"original":[113],"model":[115],"trained":[116],"by":[117],"RL":[118],"transferred":[120],"new":[123],"version":[124],"that":[125],"could":[126],"applied":[128],"tested":[130],"real":[133],"robot.":[135],"An":[136],"equivalent":[137],"asteroid's":[138],"environment":[141],"experimental":[142,165],"platform":[143],"first":[147],"time":[148],"designed":[149],"employed":[151],"test":[153],"scheme.":[160],"Both":[161],"simulation":[163],"results":[166],"validated":[167],"effectiveness":[169],"controller":[173],"training":[174],"methods.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
