{"id":"https://openalex.org/W4391620860","doi":"https://doi.org/10.1145/3610978.3640606","title":"DogSurf: Quadruped Robot Capable of GRU-based Surface Recognition for Blind Person Navigation","display_name":"DogSurf: Quadruped Robot Capable of GRU-based Surface Recognition for Blind Person Navigation","publication_year":2024,"publication_date":"2024-03-10","ids":{"openalex":"https://openalex.org/W4391620860","doi":"https://doi.org/10.1145/3610978.3640606"},"language":"en","primary_location":{"id":"doi:10.1145/3610978.3640606","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610978.3640606","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610978.3640606","source":null,"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3610978.3640606","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021020996","display_name":"Artem Bazhenov","orcid":"https://orcid.org/0009-0001-2228-7298"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Artem Bazhenov","raw_affiliation_strings":["Skolkovo Institute of Science and Technology, Moscow, Russian Federation"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041611336","display_name":"V. G. Berman","orcid":"https://orcid.org/0000-0003-4530-3518"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Vladimir Berman","raw_affiliation_strings":["Skolkovo Institute of Science and Technology, Moscow, Russian Federation"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093524849","display_name":"Sergei Satsevich","orcid":"https://orcid.org/0009-0002-7666-8587"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sergei Satsevich","raw_affiliation_strings":["Skolkovo Institute of Science and Technology, Moscow, Russian Federation"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093884483","display_name":"Olga Shalopanova","orcid":"https://orcid.org/0009-0002-5748-1979"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Olga Shalopanova","raw_affiliation_strings":["Skolkovo Institute of Science and Technology, Moscow, Russian Federation"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033517403","display_name":"Miguel Altamirano Cabrera","orcid":"https://orcid.org/0000-0002-5974-9257"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Miguel Altamirano Cabrera","raw_affiliation_strings":["Skolkovo Institute of Science and Technology, Moscow, Russian Federation"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059197603","display_name":"Artem Lykov","orcid":"https://orcid.org/0000-0001-6119-2366"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Artem Lykov","raw_affiliation_strings":["Skolkovo Institute of Science and Technology, Moscow, Russian Federation"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Skolkovo Institute of Science and Technology, Moscow, Russian Federation"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5021020996"],"corresponding_institution_ids":["https://openalex.org/I125989756"],"apc_list":null,"apc_paid":null,"fwci":1.355,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.77650197,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"238","last_page":"242"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9954000115394592,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9861999750137329,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.7918740510940552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6934676766395569},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5742702484130859},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5724697709083557},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5439091324806213},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4916911721229553},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.45842161774635315},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4356037378311157},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.43377625942230225},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35225510597229004},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18898814916610718},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.07679221034049988},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.060333847999572754}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7918740510940552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6934676766395569},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5742702484130859},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5724697709083557},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5439091324806213},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4916911721229553},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.45842161774635315},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4356037378311157},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.43377625942230225},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35225510597229004},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18898814916610718},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.07679221034049988},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.060333847999572754},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1145/3610978.3640606","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610978.3640606","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610978.3640606","source":null,"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2402.03156","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2402.03156","pdf_url":"https://arxiv.org/pdf/2402.03156","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:dspace.mit.edu:1721.1/159391","is_oa":false,"landing_page_url":"https://hdl.handle.net/1721.1/159391","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Association for Computing Machinery","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"doi:10.1145/3610978.3640606","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610978.3640606","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610978.3640606","source":null,"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391620860.pdf","grobid_xml":"https://content.openalex.org/works/W4391620860.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W1970632054","https://openalex.org/W2612690371","https://openalex.org/W2914633272","https://openalex.org/W2966951174","https://openalex.org/W2981380018","https://openalex.org/W3206532678","https://openalex.org/W3210074835","https://openalex.org/W4250058668","https://openalex.org/W4292622226","https://openalex.org/W4293057972","https://openalex.org/W4311176063","https://openalex.org/W4312884538","https://openalex.org/W4367369432","https://openalex.org/W4383108395","https://openalex.org/W4383108997"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W4233260495","https://openalex.org/W3094485622","https://openalex.org/W3001080452"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"DogSurf":[3],"-":[4],"a":[5,73],"newapproach":[6],"of":[7,54,61],"using":[8],"quadruped":[9,25,66],"robots":[10],"to":[11,27,32,38,43,85],"help":[12],"visually":[13],"impaired":[14],"people":[15],"navigate":[16],"in":[17],"real":[18],"world.":[19],"The":[20,78],"presented":[21],"method":[22],"allows":[23],"the":[24,40,59,86],"robot":[26],"detect":[28],"slippery":[29],"surfaces,":[30],"and":[31,35,80],"use":[33],"audio":[34],"haptic":[36],"feedback":[37],"inform":[39],"user":[41],"when":[42],"stop.":[44],"A":[45,68],"state-of-the-art":[46],"GRU-based":[47],"neural":[48],"network":[49],"architecture":[50],"with":[51],"mean":[52],"accuracy":[53],"99.925%":[55],"was":[56,70],"proposed":[57],"for":[58,65],"task":[60],"multiclass":[62],"surface":[63],"classification":[64],"robots.":[67],"dataset":[69,79],"collected":[71],"on":[72],"Unitree":[74],"Go1":[75],"Edu":[76],"robot.":[77],"code":[81],"have":[82],"been":[83],"posted":[84],"public":[87],"domain.":[88]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}