{"id":"https://openalex.org/W4390007869","doi":"https://doi.org/10.3390/s24010028","title":"Learning and Reusing Quadruped Robot Movement Skills from Biological Dogs for Higher-Level Tasks","display_name":"Learning and Reusing Quadruped Robot Movement Skills from Biological Dogs for Higher-Level Tasks","publication_year":2023,"publication_date":"2023-12-20","ids":{"openalex":"https://openalex.org/W4390007869","doi":"https://doi.org/10.3390/s24010028","pmid":"https://pubmed.ncbi.nlm.nih.gov/38202890"},"language":"en","primary_location":{"id":"doi:10.3390/s24010028","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24010028","pdf_url":"https://www.mdpi.com/1424-8220/24/1/28/pdf?version=1703059553","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/1/28/pdf?version=1703059553","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048108814","display_name":"Qifeng Wan","orcid":"https://orcid.org/0000-0002-3429-6183"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qifeng Wan","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101225139","display_name":"Aocheng Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aocheng Luo","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100770789","display_name":"Yan Meng","orcid":"https://orcid.org/0009-0000-7885-6675"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Meng","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100393893","display_name":"Chong Zhang","orcid":"https://orcid.org/0000-0001-9609-8855"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chong Zhang","raw_affiliation_strings":["Tencent Robotics X, Shenzhen 518057, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Shenzhen 518057, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030364414","display_name":"Wanchao Chi","orcid":"https://orcid.org/0000-0002-0737-1416"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanchao Chi","raw_affiliation_strings":["Tencent Robotics X, Shenzhen 518057, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Shenzhen 518057, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075568384","display_name":"Shenghao Zhang","orcid":"https://orcid.org/0000-0002-3870-1975"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shenghao Zhang","raw_affiliation_strings":["Tencent Robotics X, Shenzhen 518057, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Shenzhen 518057, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101943544","display_name":"Yuzhen Liu","orcid":"https://orcid.org/0000-0002-3499-0554"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuzhen Liu","raw_affiliation_strings":["Tencent Robotics X, Shenzhen 518057, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Shenzhen 518057, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059414395","display_name":"Qiuguo Zhu","orcid":"https://orcid.org/0000-0002-4965-5126"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuguo Zhu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042149473","display_name":"Shihan Kong","orcid":"https://orcid.org/0000-0002-6714-1313"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shihan Kong","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["Science and Technology on Integrated Information System Laboratory, Institute of Software, Chinese Academy of Sciences, Beijing 100190, China","State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China"],"raw_orcid":"https://orcid.org/0000-0002-6347-572X","affiliations":[{"raw_affiliation_string":"Science and Technology on Integrated Information System Laboratory, Institute of Software, Chinese Academy of Sciences, Beijing 100190, China","institution_ids":["https://openalex.org/I4210128818","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5073958329"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I20231570","https://openalex.org/I4210128818","https://openalex.org/I4391767778"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.5079,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.61337839,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"24","issue":"1","first_page":"28","last_page":"28"},"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9782999753952026,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.972000002861023,"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":0.6526036262512207},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6002597808837891},{"id":"https://openalex.org/keywords/debugging","display_name":"Debugging","score":0.5562908053398132},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.541907012462616},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5317686200141907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49615606665611267},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4889768362045288},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4504448473453522},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.4502972960472107},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4164830446243286},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3705178499221802},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3419809341430664},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32526329159736633}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6526036262512207},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6002597808837891},{"id":"https://openalex.org/C168065819","wikidata":"https://www.wikidata.org/wiki/Q845566","display_name":"Debugging","level":2,"score":0.5562908053398132},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.541907012462616},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5317686200141907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49615606665611267},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4889768362045288},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4504448473453522},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.4502972960472107},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4164830446243286},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3705178499221802},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3419809341430664},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32526329159736633},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software 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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[{"descriptor_ui":"D000069550","descriptor_name":"Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000069550","descriptor_name":"Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000069550","descriptor_name":"Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000069550","descriptor_name":"Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004285","descriptor_name":"Dogs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004285","descriptor_name":"Dogs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004285","descriptor_name":"Dogs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004285","descriptor_name":"Dogs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004285","descriptor_name":"Dogs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004285","descriptor_name":"Dogs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":4,"locations":[{"id":"doi:10.3390/s24010028","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24010028","pdf_url":"https://www.mdpi.com/1424-8220/24/1/28/pdf?version=1703059553","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:38202890","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38202890","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10780440","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10780440","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10780440/pdf/sensors-24-00028.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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:ecc7dea618124c3c97872420cd76b26c","is_oa":true,"landing_page_url":"https://doaj.org/article/ecc7dea618124c3c97872420cd76b26c","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":"Sensors, Vol 24, Iss 1, p 28 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24010028","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24010028","pdf_url":"https://www.mdpi.com/1424-8220/24/1/28/pdf?version=1703059553","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8600000143051147,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[{"id":"https://openalex.org/G3535061209","display_name":null,"funder_award_id":"62303020","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3964406689","display_name":null,"funder_award_id":"62303021","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G4119740722","display_name":null,"funder_award_id":"62303021","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G477572596","display_name":null,"funder_award_id":"62203015","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G5333385269","display_name":null,"funder_award_id":"62203015","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6431714769","display_name":null,"funder_award_id":"62303020","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G75018355","display_name":null,"funder_award_id":"2022-07","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G8950590656","display_name":null,"funder_award_id":"2022MQ05","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320316083","display_name":"Tencent","ror":"https://ror.org/00hhjss72"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4390007869.pdf"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W2053224927","https://openalex.org/W2744484133","https://openalex.org/W2801567109","https://openalex.org/W2909331752","https://openalex.org/W2909553221","https://openalex.org/W2970971581","https://openalex.org/W3093922502","https://openalex.org/W3103876613","https://openalex.org/W3104515094","https://openalex.org/W3104876774","https://openalex.org/W3111294788","https://openalex.org/W3112178754","https://openalex.org/W3131341185","https://openalex.org/W3155760807","https://openalex.org/W3164631379","https://openalex.org/W3175254947","https://openalex.org/W3200962355","https://openalex.org/W4200389411","https://openalex.org/W4206589784","https://openalex.org/W4229044820","https://openalex.org/W4250058668","https://openalex.org/W4285160851","https://openalex.org/W4322730922","https://openalex.org/W4367016688","https://openalex.org/W4387184645","https://openalex.org/W4392763392","https://openalex.org/W6751499102","https://openalex.org/W6891797237"],"related_works":["https://openalex.org/W4321442002","https://openalex.org/W2015265939","https://openalex.org/W2284072287","https://openalex.org/W2611067230","https://openalex.org/W2155788121","https://openalex.org/W4235469518","https://openalex.org/W2387706296","https://openalex.org/W2480201319","https://openalex.org/W2294325978","https://openalex.org/W2890345561"],"abstract_inverted_index":{"In":[0],"the":[1,6,27,31,64,80,103,137,162,165,180,190,196,201],"field":[2],"of":[3,30,45,66,83,200],"quadruped":[4,138,202],"robots,":[5],"most":[7],"classic":[8],"motion":[9,104,114,120,132],"control":[10,17],"algorithm":[11],"is":[12],"based":[13],"on":[14,142],"model":[15],"prediction":[16],"(MPC).":[18],"However,":[19],"this":[20,94,194],"method":[21,191],"poses":[22],"challenges":[23],"as":[24,134],"it":[25,36],"necessitates":[26],"precise":[28],"construction":[29],"robot's":[32],"dynamics":[33],"model,":[34],"making":[35],"difficult":[37],"to":[38,43,50,57,89,91,106,173,208],"achieve":[39,209],"agile":[40],"movements":[41],"similar":[42],"those":[44],"a":[46,97,124,135,174],"biological":[47,125],"dog.":[48,126],"Due":[49],"these":[51,129],"limitations,":[52],"researchers":[53],"are":[54],"increasingly":[55],"turning":[56],"model-free":[58],"learning":[59,88,100,143],"methods,":[60],"which":[61,151],"significantly":[62],"reduce":[63,73],"difficulty":[65],"modeling":[67],"and":[68,71,85,179,198],"engineering":[69],"debugging":[70],"simultaneously":[72],"real-time":[74],"optimization":[75],"computational":[76],"burden.":[77],"Inspired":[78],"by":[79],"growth":[81],"process":[82],"humans":[84],"animals,":[86],"from":[87,119,123,148],"walk":[90],"fluent":[92],"movements,":[93],"article":[95],"proposes":[96],"hierarchical":[98],"reinforcement":[99],"framework":[101],"for":[102],"controller":[105,182],"learn":[107],"some":[108,112],"higher-level":[109,144],"tasks.":[110],"First,":[111],"basic":[113,131],"skills":[115,133],"can":[116,140,169,183,204],"be":[117,170,205],"learned":[118,130],"data":[121],"captured":[122],"Then,":[127],"with":[128],"foundation,":[136],"robot":[139,176,203],"focus":[141],"tasks":[145],"without":[146,177],"starting":[147],"low-level":[149],"kinematics,":[150],"saves":[152],"redundant":[153],"training":[154,163],"time.":[155],"By":[156,188],"utilizing":[157],"domain":[158],"randomization":[159],"techniques":[160],"during":[161],"process,":[164],"trained":[166],"policy":[167],"function":[168],"directly":[171],"transferred":[172],"physical":[175],"modification,":[178],"resulting":[181],"perform":[184],"more":[185],"biomimetic":[186],"movements.":[187],"implementing":[189],"proposed":[192],"in":[193,212],"article,":[195],"agility":[197],"adaptability":[199],"maximally":[206],"utilized":[207],"efficient":[210],"operations":[211],"complex":[213],"terrains.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-21T07:57:09.225873","created_date":"2025-10-10T00:00:00"}