{"id":"https://openalex.org/W2588561864","doi":"https://doi.org/10.1109/ssci.2016.7850167","title":"Multi-objective evolution of fast and stable gaits on a physical quadruped robotic platform","display_name":"Multi-objective evolution of fast and stable gaits on a physical quadruped robotic platform","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2588561864","doi":"https://doi.org/10.1109/ssci.2016.7850167","mag":"2588561864"},"language":"en","primary_location":{"id":"doi:10.1109/ssci.2016.7850167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssci.2016.7850167","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Symposium Series on Computational Intelligence (SSCI)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5034896610","display_name":"T\u00f8nnes F. Nygaard","orcid":"https://orcid.org/0000-0003-1959-6556"},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Tonnes F. Nygaard","raw_affiliation_strings":["Department of Informatics, University of Oslo, Oslo, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071144214","display_name":"Jim T\u00f8rresen","orcid":"https://orcid.org/0000-0003-0556-0288"},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Jim Torresen","raw_affiliation_strings":["Department of Informatics, University of Oslo, Oslo, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051938848","display_name":"Kyrre Glette","orcid":"https://orcid.org/0000-0003-3550-3225"},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Kyrre Glette","raw_affiliation_strings":["Department of Informatics, University of Oslo, Oslo, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I184942183"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9990000128746033,"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":0.9990000128746033,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9807000160217285,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.954200029373169,"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":0.7186443209648132},{"id":"https://openalex.org/keywords/multi-objective-optimization","display_name":"Multi-objective optimization","score":0.646872878074646},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.6221874356269836},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6130316257476807},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.6019665002822876},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5583853125572205},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5526219606399536},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5042742490768433},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.48731693625450134},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.43784111738204956},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4245939552783966},{"id":"https://openalex.org/keywords/evolutionary-computation","display_name":"Evolutionary computation","score":0.4216260313987732},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.41606661677360535},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3657991290092468},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3562517762184143},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3426128029823303},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2586844861507416},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11818882822990417}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7186443209648132},{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.646872878074646},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.6221874356269836},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6130316257476807},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.6019665002822876},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5583853125572205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5526219606399536},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5042742490768433},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.48731693625450134},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.43784111738204956},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4245939552783966},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.4216260313987732},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.41606661677360535},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3657991290092468},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3562517762184143},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3426128029823303},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2586844861507416},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11818882822990417},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssci.2016.7850167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssci.2016.7850167","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Symposium Series on Computational Intelligence (SSCI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320386","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07"},{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W31984690","https://openalex.org/W41687329","https://openalex.org/W582091997","https://openalex.org/W1481659984","https://openalex.org/W1519778441","https://openalex.org/W1527672606","https://openalex.org/W1965654221","https://openalex.org/W1978161072","https://openalex.org/W2001685400","https://openalex.org/W2014033361","https://openalex.org/W2015630562","https://openalex.org/W2016650062","https://openalex.org/W2029143333","https://openalex.org/W2039677252","https://openalex.org/W2050933363","https://openalex.org/W2069179200","https://openalex.org/W2075374438","https://openalex.org/W2077571245","https://openalex.org/W2111904757","https://openalex.org/W2112002204","https://openalex.org/W2138416768","https://openalex.org/W2152526632","https://openalex.org/W2411824964","https://openalex.org/W2901136733","https://openalex.org/W4250087872","https://openalex.org/W6601249954","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4244439390","https://openalex.org/W2380659006","https://openalex.org/W4251432983","https://openalex.org/W1954640725","https://openalex.org/W4297582752","https://openalex.org/W4285805405","https://openalex.org/W2906115061","https://openalex.org/W2977596624","https://openalex.org/W85101999","https://openalex.org/W2145877535"],"abstract_inverted_index":{"The":[0,26,161],"field":[1],"of":[2,15,74,90,98,144],"evolutionary":[3,117,166],"robotics":[4],"shows":[5],"great":[6],"promise,":[7],"but":[8,62,176],"is":[9,67,172],"held":[10],"back":[11],"by":[12,69],"the":[13,54,70,112,120,157,169],"lack":[14],"results":[16,162],"applicable":[17],"to":[18,35,47,94],"real":[19,36,113],"world":[20],"problems":[21],"or":[22,50,147],"other":[23],"research":[24],"fields.":[25],"reality":[27],"gap":[28],"effects":[29],"present":[30],"when":[31],"moving":[32],"from":[33],"virtual":[34],"robots":[37],"makes":[38],"evolution":[39],"based":[40],"on":[41,53,111,119,168],"simulation":[42],"inefficient":[43],"for":[44,101],"continuous":[45],"adaption":[46],"changing":[48],"morphology":[49],"environments.":[51],"Evolution":[52],"physical":[55,121,170],"robot":[56,104,171],"does":[57,106],"not":[58,107,150,173],"share":[59],"these":[60],"challenges,":[61],"each":[63,75],"experiment":[64],"in":[65],"hardware":[66],"limited":[68],"high":[71,84,129,184],"time":[72],"requirement":[73],"evaluation.":[76],"In":[77],"this":[78],"paper":[79],"we":[80,123],"suggest":[81],"using":[82,179],"a":[83,96,102,125,154,183],"level":[85,185],"controller":[86],"with":[87,128,153],"multi-objective":[88,116,165],"optimization":[89,118,143,167],"speed":[91,138,146],"and":[92,131,139],"stability":[93,148],"achieve":[95],"range":[97],"robust":[99,132],"gaits":[100],"quadruped":[103],"that":[105,164],"require":[108],"excessive":[109],"tests":[110],"robot.":[114],"Using":[115],"robot,":[122],"achieved":[124],"Pareto":[126],"front":[127],"performing":[130],"individuals":[133,152],"showing":[134],"different":[135],"trade-offs":[136],"between":[137,156],"stability.":[140],"Single":[141],"objective":[142,159],"either":[145],"did":[149],"yield":[151],"trade-off":[155],"two":[158],"functions.":[160],"show":[163],"only":[174],"feasible,":[175],"preferable":[177],"over":[178],"single-objective":[180],"optimization,":[181],"given":[182],"gait":[186],"controller.":[187]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
