{"id":"https://openalex.org/W4362735874","doi":"https://doi.org/10.3389/frobt.2023.1004490","title":"Learning hybrid locomotion skills\u2014Learn to exploit residual actions and modulate model-based gait control","display_name":"Learning hybrid locomotion skills\u2014Learn to exploit residual actions and modulate model-based gait control","publication_year":2023,"publication_date":"2023-04-10","ids":{"openalex":"https://openalex.org/W4362735874","doi":"https://doi.org/10.3389/frobt.2023.1004490","pmid":"https://pubmed.ncbi.nlm.nih.gov/37102130"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2023.1004490","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1004490","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1004490/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1004490/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041132510","display_name":"Mohammadreza Kasaei","orcid":"https://orcid.org/0000-0003-4932-1457"},"institutions":[{"id":"https://openalex.org/I4210154378","display_name":"Informa (United Kingdom)","ror":"https://ror.org/053mfvp43","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210154378"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Mohammadreza Kasaei","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, United Kingdom","School of Informatics, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"School of Informatics, United Kingdom","institution_ids":["https://openalex.org/I4210154378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057161810","display_name":"Miguel Abreu","orcid":"https://orcid.org/0000-0002-6342-2054"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Miguel Abreu","raw_affiliation_strings":["University of Porto, LIACC / LASI / FEUP, Artificial Intelligence and Computer Science Lab, Faculty of Engineering of the University of Porto, Porto, Portugal","University of Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Porto, LIACC / LASI / FEUP, Artificial Intelligence and Computer Science Lab, Faculty of Engineering of the University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"University of Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055569781","display_name":"Nuno Lau","orcid":"https://orcid.org/0000-0003-0513-158X"},"institutions":[{"id":"https://openalex.org/I60858718","display_name":"University of Aveiro","ror":"https://ror.org/00nt41z93","country_code":"PT","type":"education","lineage":["https://openalex.org/I60858718"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Nuno Lau","raw_affiliation_strings":["IEETA / LASI / DETI University of Aveiro, Aveiro, Portugal","IEETA / LASI / DETI University of Aveiro, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IEETA / LASI / DETI University of Aveiro, Aveiro, Portugal","institution_ids":["https://openalex.org/I60858718"]},{"raw_affiliation_string":"IEETA / LASI / DETI University of Aveiro, Portugal","institution_ids":["https://openalex.org/I60858718"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062824074","display_name":"Artur Pereira","orcid":"https://orcid.org/0000-0002-7099-1247"},"institutions":[{"id":"https://openalex.org/I60858718","display_name":"University of Aveiro","ror":"https://ror.org/00nt41z93","country_code":"PT","type":"education","lineage":["https://openalex.org/I60858718"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Artur Pereira","raw_affiliation_strings":["IEETA / LASI / DETI University of Aveiro, Aveiro, Portugal","IEETA / LASI / DETI University of Aveiro, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IEETA / LASI / DETI University of Aveiro, Aveiro, Portugal","institution_ids":["https://openalex.org/I60858718"]},{"raw_affiliation_string":"IEETA / LASI / DETI University of Aveiro, Portugal","institution_ids":["https://openalex.org/I60858718"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089812166","display_name":"Lu\u00eds Paulo Reis","orcid":"https://orcid.org/0000-0002-4709-1718"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Luis Paulo Reis","raw_affiliation_strings":["University of Porto, LIACC / LASI / FEUP, Artificial Intelligence and Computer Science Lab, Faculty of Engineering of the University of Porto, Porto, Portugal","University of Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Porto, LIACC / LASI / FEUP, Artificial Intelligence and Computer Science Lab, Faculty of Engineering of the University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"University of Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["Department of Computer Science, University College London, London, United Kingdom","Department of Computer Science, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, United Kingdom","institution_ids":["https://openalex.org/I45129253"]},{"raw_affiliation_string":"Department of Computer Science, United Kingdom","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5041132510"],"corresponding_institution_ids":["https://openalex.org/I4210154378","https://openalex.org/I98677209"],"apc_list":{"value":2125,"currency":"USD","value_usd":2125},"apc_paid":{"value":2125,"currency":"USD","value_usd":2125},"fwci":0.3235,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.45245908,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"10","issue":null,"first_page":"1004490","last_page":"1004490"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9878000020980835,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9846000075340271,"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/computer-science","display_name":"Computer science","score":0.8150544762611389},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7574162483215332},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5714216828346252},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5401514768600464},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5208914279937744},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.4954465627670288},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.49503010511398315},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47896745800971985},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44700881838798523},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4418221116065979},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.42580926418304443},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.401073694229126},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20277875661849976},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09689822793006897},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07233721017837524}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8150544762611389},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7574162483215332},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5714216828346252},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5401514768600464},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5208914279937744},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.4954465627670288},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.49503010511398315},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47896745800971985},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44700881838798523},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4418221116065979},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.42580926418304443},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.401073694229126},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20277875661849976},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09689822793006897},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07233721017837524},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3389/frobt.2023.1004490","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1004490","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1004490/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:37102130","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37102130","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10123269","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10123269","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10123269/pdf/frobt-10-1004490.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:e9c9293545b3417abb61b92827a73be1","is_oa":true,"landing_page_url":"https://doaj.org/article/e9c9293545b3417abb61b92827a73be1","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 10 (2023)","raw_type":"article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10169724","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/10169724/1/frobt-10-1004490.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI , 10 , Article 1004490. (2023)","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2023.1004490","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1004490","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1004490/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.5099999904632568,"display_name":"Quality Education"}],"awards":[{"id":"https://openalex.org/G6147775995","display_name":"Institute of Electronics and Informatics Engineering of Aveiro","funder_award_id":"UIDB/00127/2020","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"}],"funders":[{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4362735874.pdf"},"referenced_works_count":59,"referenced_works":["https://openalex.org/W1191599655","https://openalex.org/W1502211375","https://openalex.org/W1533853869","https://openalex.org/W2023467824","https://openalex.org/W2063641920","https://openalex.org/W2074042377","https://openalex.org/W2122827816","https://openalex.org/W2217484997","https://openalex.org/W2419238567","https://openalex.org/W2575705757","https://openalex.org/W2735356792","https://openalex.org/W2736601468","https://openalex.org/W2783859738","https://openalex.org/W2790972108","https://openalex.org/W2891303851","https://openalex.org/W2914199444","https://openalex.org/W2921976013","https://openalex.org/W2950125763","https://openalex.org/W2971999851","https://openalex.org/W2977595516","https://openalex.org/W2981479926","https://openalex.org/W2993564757","https://openalex.org/W3004338560","https://openalex.org/W3023302096","https://openalex.org/W3029509103","https://openalex.org/W3035454705","https://openalex.org/W3044967063","https://openalex.org/W3089937392","https://openalex.org/W3098082936","https://openalex.org/W3100958881","https://openalex.org/W3103368812","https://openalex.org/W3104722610","https://openalex.org/W3106249594","https://openalex.org/W3111294788","https://openalex.org/W3112178754","https://openalex.org/W3187140176","https://openalex.org/W3202243720","https://openalex.org/W3206620955","https://openalex.org/W4214717370","https://openalex.org/W6627932998","https://openalex.org/W6631992177","https://openalex.org/W6666591157","https://openalex.org/W6678391479","https://openalex.org/W6688842760","https://openalex.org/W6717092263","https://openalex.org/W6730499226","https://openalex.org/W6732386917","https://openalex.org/W6741002519","https://openalex.org/W6747985920","https://openalex.org/W6754686749","https://openalex.org/W6758690778","https://openalex.org/W6763537849","https://openalex.org/W6763708225","https://openalex.org/W6765121789","https://openalex.org/W6768073888","https://openalex.org/W6770943556","https://openalex.org/W6785837692","https://openalex.org/W6785992174","https://openalex.org/W6793548567"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703"],"abstract_inverted_index":{"This":[0],"work":[1],"has":[2,181],"developed":[3],"a":[4,29,33,50,145,203],"hybrid":[5],"framework":[6,27,141,180],"that":[7,122],"combines":[8],"machine":[9],"learning":[10],"and":[11,38,68,97,108,114,151,172,208],"control":[12],"approaches":[13],"for":[14,64,73,111],"legged":[15],"robots":[16],"to":[17,59,93,156,166,212],"achieve":[18],"new":[19],"capabilities":[20],"of":[21,48,101,104,138,147,177,193,205],"balancing":[22],"against":[23],"external":[24,163],"perturbations.":[25,83],"The":[26,119,136],"embeds":[28],"kernel":[30,106,124],"which":[31,186],"is":[32],"model-based,":[34],"full":[35],"parametric":[36],"closed-loop":[37],"analytical":[39],"controller":[40],"as":[41],"the":[42,62,65,79,95,98,102,105,109,112,127,132,139,157,175,178,188,191,197,210],"gait":[43,66],"pattern":[44],"generator.":[45],"On":[46],"top":[47],"that,":[49],"neural":[51],"network":[52],"with":[53,88],"symmetric":[54],"partial":[55],"data":[56],"augmentation":[57],"learns":[58],"automatically":[60],"adjust":[61],"parameters":[63,107,125],"kernel,":[67],"also":[69],"generate":[70],"compensatory":[71],"actions":[72,129],"all":[74],"joints,":[75],"thus":[76],"significantly":[77],"augmenting":[78],"stability":[80,133],"under":[81],"unexpected":[82],"Seven":[84],"Neural":[85],"Network":[86],"policies":[87,199],"different":[89],"configurations":[90],"were":[91,200],"optimized":[92],"validate":[94],"effectiveness":[96],"combined":[99],"use":[100],"modulation":[103],"compensation":[110],"arms":[113],"legs":[115],"using":[116],"residual":[117,128],"actions.":[118],"results":[120],"validated":[121,201],"modulating":[123],"alongside":[126],"have":[130],"improved":[131],"significantly.":[134],"Furthermore,":[135,196],"performance":[137],"proposed":[140,179],"was":[142],"evaluated":[143],"across":[144,202],"set":[146,204],"challenging":[148],"simulated":[149],"scenarios,":[150],"demonstrated":[152,187],"considerable":[153],"improvements":[154],"compared":[155],"baseline":[158],"in":[159,190],"recovering":[160],"from":[161],"large":[162],"forces":[164],"(up":[165],"118%).":[167],"Besides,":[168],"regarding":[169],"measurement":[170],"noise":[171],"model":[173],"inaccuracies,":[174],"robustness":[176,189],"been":[182],"assessed":[183],"through":[184],"simulations,":[185],"presence":[192],"these":[194],"uncertainties.":[195],"trained":[198],"unseen":[206],"scenarios":[207],"showed":[209],"generalization":[211],"dynamic":[213],"walking.":[214]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
