{"id":"https://openalex.org/W2145705329","doi":"https://doi.org/10.1177/0278364910390537","title":"The Stanford LittleDog: A learning and rapid replanning approach to quadruped locomotion","display_name":"The Stanford LittleDog: A learning and rapid replanning approach to quadruped locomotion","publication_year":2011,"publication_date":"2011-01-25","ids":{"openalex":"https://openalex.org/W2145705329","doi":"https://doi.org/10.1177/0278364910390537","mag":"2145705329"},"language":"en","primary_location":{"id":"doi:10.1177/0278364910390537","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910390537","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5075035644","display_name":"J. Zico Kolter","orcid":"https://orcid.org/0000-0002-8106-5759"},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"J. Zico Kolter","raw_affiliation_strings":["MIT, Computer Science, Cambridge, MA, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT, Computer Science, Cambridge, MA, USA,","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112456378","display_name":"Andrew Y. Ng","orcid":"https://orcid.org/0000-0001-5547-3196"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Y Ng","raw_affiliation_strings":["Stanford University, Computer Science, Stanford, CA, USA","Stanford University, Computer Science, Stanford, CA,USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, Computer Science, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University, Computer Science, Stanford, CA,USA#TAB#","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5075035644"],"corresponding_institution_ids":["https://openalex.org/I4210110987"],"apc_list":null,"apc_paid":null,"fwci":4.8507,"has_fulltext":false,"cited_by_count":94,"citation_normalized_percentile":{"value":0.95365345,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"30","issue":"2","first_page":"150","last_page":"174"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9641000032424927,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9445000290870667,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8762732744216919},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.669905960559845},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6434988379478455},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6407769918441772},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.6212757229804993},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5880530476570129},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5401008129119873},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46299678087234497},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.4300835430622101},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.42487847805023193},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38263607025146484},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3352813720703125},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2965615391731262},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.1361711025238037}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8762732744216919},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.669905960559845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6434988379478455},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6407769918441772},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.6212757229804993},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5880530476570129},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5401008129119873},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46299678087234497},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.4300835430622101},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.42487847805023193},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38263607025146484},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3352813720703125},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2965615391731262},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1361711025238037},{"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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364910390537","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910390537","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W169402212","https://openalex.org/W1525400443","https://openalex.org/W1822001265","https://openalex.org/W1964168076","https://openalex.org/W1975230295","https://openalex.org/W1977174110","https://openalex.org/W1982508615","https://openalex.org/W1988274707","https://openalex.org/W1999874108","https://openalex.org/W2005805981","https://openalex.org/W2020751555","https://openalex.org/W2037228108","https://openalex.org/W2045360725","https://openalex.org/W2054186704","https://openalex.org/W2077676902","https://openalex.org/W2093044630","https://openalex.org/W2094770975","https://openalex.org/W2097826433","https://openalex.org/W2105842272","https://openalex.org/W2106848320","https://openalex.org/W2116442740","https://openalex.org/W2125095347","https://openalex.org/W2127895608","https://openalex.org/W2131680666","https://openalex.org/W2137055801","https://openalex.org/W2144587497","https://openalex.org/W2151002610","https://openalex.org/W2153192722","https://openalex.org/W2154871086","https://openalex.org/W2157246645","https://openalex.org/W2161427949","https://openalex.org/W2162218551","https://openalex.org/W2169498096","https://openalex.org/W2292999476","https://openalex.org/W2296319761","https://openalex.org/W2570393720","https://openalex.org/W4250589301","https://openalex.org/W4252126565","https://openalex.org/W4302039983"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W2909067415","https://openalex.org/W4226082913"],"abstract_inverted_index":{"Legged":[0],"robots":[1],"have":[2,77],"the":[3,23,70,84,111,121,132,138],"potential":[4],"to":[5,15,65,80],"navigate":[6],"a":[7,30,47,92],"wide":[8],"variety":[9],"of":[10,28,53,87,123,134],"terrain":[11,37],"that":[12,38,50,76,107,114],"is":[13],"inaccessible":[14],"wheeled":[16],"vehicles.":[17],"In":[18],"this":[19,67],"paper":[20,71],"we":[21,72,100,108],"consider":[22],"planning":[24],"and":[25,56,90,97,105,113,127,130],"control":[26],"tasks":[27],"navigating":[29],"quadruped":[31,112],"robot":[32],"over":[33],"challenging":[34],"terrain,":[35],"including":[36],"it":[39],"has":[40],"not":[41],"seen":[42],"until":[43],"run-time.":[44],"We":[45,119],"present":[46,101,129],"software":[48],"architecture":[49],"makes":[51],"use":[52,86],"both":[54],"static":[55],"dynamic":[57,63],"gaits,":[58],"as":[59,61],"well":[60],"specialized":[62],"maneuvers,":[64],"accomplish":[66],"task.":[68],"Throughout":[69],"highlight":[73],"two":[74,117],"themes":[75],"been":[78],"central":[79],"our":[81,135],"approach:":[82],"(1)":[83],"prevalent":[85],"learning":[88],"algorithms,":[89],"(2)":[91],"focus":[93],"on":[94,137],"rapid":[95],"recovery":[96],"replanning":[98],"techniques;":[99],"several":[102],"novel":[103],"methods":[104],"algorithms":[106],"developed":[109],"for":[110],"illustrate":[115],"these":[116,124],"themes.":[118],"evaluate":[120],"performance":[122,133],"different":[125],"methods,":[126],"also":[128],"discuss":[131],"system":[136],"official":[139],"Learning":[140],"Locomotion":[141],"tests.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":9}],"updated_date":"2026-06-23T06:36:01.041984","created_date":"2025-10-10T00:00:00"}