{"id":"https://openalex.org/W4406779533","doi":"https://doi.org/10.1177/02783649241312698","title":"Learning-based legged locomotion: State of the art and future perspectives","display_name":"Learning-based legged locomotion: State of the art and future perspectives","publication_year":2025,"publication_date":"2025-01-22","ids":{"openalex":"https://openalex.org/W4406779533","doi":"https://doi.org/10.1177/02783649241312698"},"language":"en","primary_location":{"id":"doi:10.1177/02783649241312698","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241312698","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/A5064581452","display_name":"Sehoon Ha","orcid":"https://orcid.org/0000-0002-1972-328X"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sehoon Ha","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology, Atlanta, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100692810","display_name":"Joon-Ho Lee","orcid":"https://orcid.org/0000-0002-2541-1741"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joonho Lee","raw_affiliation_strings":["Neuromeka Co., Ltd, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuromeka Co., Ltd, Seoul, Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052748246","display_name":"Michiel van de Panne","orcid":"https://orcid.org/0000-0002-9123-3672"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michiel van de Panne","raw_affiliation_strings":["Department of Computer Science, University of British Columbia, Vancouver, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of British Columbia, Vancouver, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101132534","display_name":"Zhaoming Xie","orcid":"https://orcid.org/0000-0002-6085-8178"},"institutions":[{"id":"https://openalex.org/I2799847335","display_name":"Art Institute of Portland","ror":"https://ror.org/01cb0jg64","country_code":"US","type":"education","lineage":["https://openalex.org/I2799847335","https://openalex.org/I2799969541"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhaoming Xie","raw_affiliation_strings":["The AI Institute, Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The AI Institute, Cambridge, USA","institution_ids":["https://openalex.org/I2799847335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101775413","display_name":"Wenhao Yu","orcid":"https://orcid.org/0000-0002-6052-0839"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenhao Yu","raw_affiliation_strings":["Google DeepMind, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMind, California, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043216529","display_name":"Majid Khadiv","orcid":"https://orcid.org/0000-0001-9889-6543"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Majid Khadiv","raw_affiliation_strings":["Department of Computer Engineering, Technical University of Munich (TUM), Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9889-6543","affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5043216529"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":19.2428,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.99646325,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"44","issue":"8","first_page":"1396","last_page":"1427"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9722999930381775,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9700000286102295,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5699015259742737},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5260208249092102},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4764412045478821},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4747985899448395},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3341470956802368},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.10404545068740845}],"concepts":[{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5699015259742737},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5260208249092102},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4764412045478821},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4747985899448395},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3341470956802368},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.10404545068740845}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649241312698","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241312698","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":312,"referenced_works":["https://openalex.org/W32403112","https://openalex.org/W148292880","https://openalex.org/W355330432","https://openalex.org/W606806978","https://openalex.org/W639693478","https://openalex.org/W1502718064","https://openalex.org/W1544214306","https://openalex.org/W1597655206","https://openalex.org/W1608288896","https://openalex.org/W1945123189","https://openalex.org/W1969366849","https://openalex.org/W1973546417","https://openalex.org/W1975230295","https://openalex.org/W1977995507","https://openalex.org/W1984120922","https://openalex.org/W1986621758","https://openalex.org/W1988115241","https://openalex.org/W1994275787","https://openalex.org/W1994530392","https://openalex.org/W1995199698","https://openalex.org/W2002746731","https://openalex.org/W2002853107","https://openalex.org/W2008342119","https://openalex.org/W2015149365","https://openalex.org/W2026417790","https://openalex.org/W2029517350","https://openalex.org/W2042408133","https://openalex.org/W2042882799","https://openalex.org/W2081864293","https://openalex.org/W2087617385","https://openalex.org/W2091829036","https://openalex.org/W2094444216","https://openalex.org/W2094496385","https://openalex.org/W2096001037","https://openalex.org/W2101340954","https://openalex.org/W2103496339","https://openalex.org/W2105947986","https://openalex.org/W2112002204","https://openalex.org/W2116528556","https://openalex.org/W2125074935","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2138373683","https://openalex.org/W2138537392","https://openalex.org/W2139053308","https://openalex.org/W2140036247","https://openalex.org/W2141042553","https://openalex.org/W2144351850","https://openalex.org/W2144503307","https://openalex.org/W2145339207","https://openalex.org/W2145499285","https://openalex.org/W2145705329","https://openalex.org/W2146614426","https://openalex.org/W2149606028","https://openalex.org/W2150317946","https://openalex.org/W2151002610","https://openalex.org/W2154139861","https://openalex.org/W2155823170","https://openalex.org/W2156174987","https://openalex.org/W2157822824","https://openalex.org/W2158782408","https://openalex.org/W2159220301","https://openalex.org/W2161427949","https://openalex.org/W2162768030","https://openalex.org/W2167210454","https://openalex.org/W2167224731","https://openalex.org/W2198582666","https://openalex.org/W2321292752","https://openalex.org/W2346626577","https://openalex.org/W2415959992","https://openalex.org/W2418368699","https://openalex.org/W2470094176","https://openalex.org/W2522795812","https://openalex.org/W2531596132","https://openalex.org/W2556096037","https://openalex.org/W2559655401","https://openalex.org/W2573227850","https://openalex.org/W2579831263","https://openalex.org/W2604213426","https://openalex.org/W2605102758","https://openalex.org/W2607968634","https://openalex.org/W2612690371","https://openalex.org/W2739330054","https://openalex.org/W2746553466","https://openalex.org/W2752796333","https://openalex.org/W2755682944","https://openalex.org/W2761873684","https://openalex.org/W2762555062","https://openalex.org/W2767050701","https://openalex.org/W2771691050","https://openalex.org/W2779458783","https://openalex.org/W2783350322","https://openalex.org/W2788030459","https://openalex.org/W2789262417","https://openalex.org/W2793955514","https://openalex.org/W2796290181","https://openalex.org/W2796766656","https://openalex.org/W2802254096","https://openalex.org/W2805762288","https://openalex.org/W2808347617","https://openalex.org/W2810754397","https://openalex.org/W2888235455","https://openalex.org/W2890326782","https://openalex.org/W2894318605","https://openalex.org/W2906487027","https://openalex.org/W2907537824","https://openalex.org/W2909331752","https://openalex.org/W2909553221","https://openalex.org/W2911087563","https://openalex.org/W2915553973","https://openalex.org/W2919115771","https://openalex.org/W2948468563","https://openalex.org/W2950624398","https://openalex.org/W2951633861","https://openalex.org/W2962872206","https://openalex.org/W2963184939","https://openalex.org/W2963614114","https://openalex.org/W2964185336","https://openalex.org/W2967118761","https://openalex.org/W2967727187","https://openalex.org/W2967998934","https://openalex.org/W2968116426","https://openalex.org/W2968213087","https://openalex.org/W2972830116","https://openalex.org/W2977389550","https://openalex.org/W2989986341","https://openalex.org/W2990138404","https://openalex.org/W3003647188","https://openalex.org/W3007035358","https://openalex.org/W3008998212","https://openalex.org/W3010768390","https://openalex.org/W3011016396","https://openalex.org/W3011771794","https://openalex.org/W3022125597","https://openalex.org/W3040408533","https://openalex.org/W3044718039","https://openalex.org/W3089564096","https://openalex.org/W3089582219","https://openalex.org/W3091304796","https://openalex.org/W3091756548","https://openalex.org/W3092246801","https://openalex.org/W3093169645","https://openalex.org/W3093175803","https://openalex.org/W3093326211","https://openalex.org/W3093481944","https://openalex.org/W3093922502","https://openalex.org/W3098485540","https://openalex.org/W3100238596","https://openalex.org/W3101442004","https://openalex.org/W3101817006","https://openalex.org/W3102129812","https://openalex.org/W3102715624","https://openalex.org/W3103075896","https://openalex.org/W3104730803","https://openalex.org/W3104876774","https://openalex.org/W3106152188","https://openalex.org/W3108412994","https://openalex.org/W3109186372","https://openalex.org/W3109952375","https://openalex.org/W3112664346","https://openalex.org/W3114977466","https://openalex.org/W3118300017","https://openalex.org/W3126300335","https://openalex.org/W3126321819","https://openalex.org/W3127508379","https://openalex.org/W3127527157","https://openalex.org/W3127916076","https://openalex.org/W3130657420","https://openalex.org/W3131916177","https://openalex.org/W3132444912","https://openalex.org/W3134580056","https://openalex.org/W3134918303","https://openalex.org/W3135508935","https://openalex.org/W3136437429","https://openalex.org/W3139377883","https://openalex.org/W3140042148","https://openalex.org/W3142410314","https://openalex.org/W3146237982","https://openalex.org/W3150631816","https://openalex.org/W3150718622","https://openalex.org/W3158675508","https://openalex.org/W3169621876","https://openalex.org/W3173446233","https://openalex.org/W3175254947","https://openalex.org/W3184620837","https://openalex.org/W3187710359","https://openalex.org/W3188538171","https://openalex.org/W3200128452","https://openalex.org/W3202243720","https://openalex.org/W3202862600","https://openalex.org/W3203229917","https://openalex.org/W3204973825","https://openalex.org/W3206252238","https://openalex.org/W3206363598","https://openalex.org/W3206393052","https://openalex.org/W3206762371","https://openalex.org/W3207078110","https://openalex.org/W3207491493","https://openalex.org/W3209332701","https://openalex.org/W3213774989","https://openalex.org/W3214564871","https://openalex.org/W4200470117","https://openalex.org/W4205430897","https://openalex.org/W4205918232","https://openalex.org/W4210491718","https://openalex.org/W4210883899","https://openalex.org/W4214634122","https://openalex.org/W4214717370","https://openalex.org/W4221139255","https://openalex.org/W4221142099","https://openalex.org/W4226143977","https://openalex.org/W4229044820","https://openalex.org/W4229872932","https://openalex.org/W4237591687","https://openalex.org/W4240896231","https://openalex.org/W4241574513","https://openalex.org/W4249493948","https://openalex.org/W4250058668","https://openalex.org/W4250087872","https://openalex.org/W4285047688","https://openalex.org/W4285102304","https://openalex.org/W4285102619","https://openalex.org/W4285222543","https://openalex.org/W4285730619","https://openalex.org/W4286611079","https://openalex.org/W4287100620","https://openalex.org/W4293741188","https://openalex.org/W4294310659","https://openalex.org/W4296718913","https://openalex.org/W4300892751","https://openalex.org/W4304606977","https://openalex.org/W4309303752","https://openalex.org/W4309323738","https://openalex.org/W4309805045","https://openalex.org/W4312551478","https://openalex.org/W4312574175","https://openalex.org/W4312606126","https://openalex.org/W4312749288","https://openalex.org/W4312900898","https://openalex.org/W4312908419","https://openalex.org/W4313181105","https://openalex.org/W4313196885","https://openalex.org/W4313639240","https://openalex.org/W4317987839","https://openalex.org/W4318953217","https://openalex.org/W4362597616","https://openalex.org/W4378696928","https://openalex.org/W4380551489","https://openalex.org/W4381662572","https://openalex.org/W4382365373","https://openalex.org/W4383066216","https://openalex.org/W4383097669","https://openalex.org/W4383108274","https://openalex.org/W4383108291","https://openalex.org/W4383108493","https://openalex.org/W4383108816","https://openalex.org/W4383109295","https://openalex.org/W4383109371","https://openalex.org/W4385430486","https://openalex.org/W4385430550","https://openalex.org/W4385756663","https://openalex.org/W4386025948","https://openalex.org/W4386026190","https://openalex.org/W4386038305","https://openalex.org/W4386075970","https://openalex.org/W4386721518","https://openalex.org/W4387123822","https://openalex.org/W4387184645","https://openalex.org/W4387197141","https://openalex.org/W4387447989","https://openalex.org/W4389339407","https://openalex.org/W4389665667","https://openalex.org/W4389665855","https://openalex.org/W4389666172","https://openalex.org/W4389666311","https://openalex.org/W4389666493","https://openalex.org/W4389667015","https://openalex.org/W4390480962","https://openalex.org/W4390481194","https://openalex.org/W4390481291","https://openalex.org/W4390494915","https://openalex.org/W4390938336","https://openalex.org/W4391232716","https://openalex.org/W4392646028","https://openalex.org/W4392763392","https://openalex.org/W4394674699","https://openalex.org/W4394872716","https://openalex.org/W4395116617","https://openalex.org/W4396910086","https://openalex.org/W4401214187","https://openalex.org/W4401414173","https://openalex.org/W4401414379","https://openalex.org/W4401414436","https://openalex.org/W4401414804","https://openalex.org/W4401415792","https://openalex.org/W4401415879","https://openalex.org/W4401416030","https://openalex.org/W4401416343","https://openalex.org/W4401416668","https://openalex.org/W4401417117","https://openalex.org/W4402354017","https://openalex.org/W4402354036","https://openalex.org/W4402354142","https://openalex.org/W4402354151","https://openalex.org/W4403741606","https://openalex.org/W4404954016","https://openalex.org/W4404954595","https://openalex.org/W4405778675","https://openalex.org/W4405786841","https://openalex.org/W4405787394","https://openalex.org/W6634616096","https://openalex.org/W6718092244"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Legged":[0],"locomotion":[1,27,85],"holds":[2],"the":[3,23,29,49,61,77,95,101,106,115],"premise":[4],"of":[5,25,39,51,63,76,100,109,118,129],"universal":[6],"mobility,":[7],"a":[8,37,73,127],"critical":[9],"capability":[10],"for":[11,87,121],"many":[12],"real-world":[13],"robotic":[14,58],"applications.":[15],"Both":[16],"model-based":[17],"and":[18,60,65,89],"learning-based":[19,46],"approaches":[20],"have":[21,41],"advanced":[22],"field":[24],"legged":[26],"in":[28,45,56,83],"past":[30],"three":[31],"decades.":[32],"In":[33],"recent":[34,81,107],"years,":[35],"however,":[36],"number":[38],"factors":[40],"dramatically":[42],"accelerated":[43],"progress":[44,55],"methods,":[47],"including":[48],"rise":[50,117],"deep":[52],"learning,":[53],"rapid":[54,116],"simulating":[57],"systems,":[59],"availability":[62],"high-performance":[64],"affordable":[66],"hardware.":[67],"This":[68],"article":[69],"aims":[70],"to":[71,79,90,94],"give":[72],"brief":[74],"history":[75],"field,":[78],"summarize":[80],"efforts":[82],"learning":[84],"skills":[86],"quadrupeds,":[88],"provide":[91],"researchers":[92],"new":[93],"area":[96],"with":[97,126],"an":[98],"understanding":[99],"key":[102],"issues":[103],"involved.":[104],"With":[105],"proliferation":[108],"humanoid":[110],"robots,":[111],"we":[112],"further":[113],"outline":[114],"analogous":[119],"methods":[120],"bipedal":[122],"locomotion.":[123],"We":[124],"conclude":[125],"discussion":[128],"open":[130],"problems":[131],"as":[132,134],"well":[133],"related":[135],"societal":[136],"impact.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":23}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}