Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
Open accessThe claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Conventional controllers for legged locomotion are based on elaborate state machines that explicitly trigger the execution of motion primitives and reflexes.
“Many rely on elaborate state machines that coordinate the execution of motion primitives and reflex controllers [1-5].”
From Learning quadrupedal locomotion over challenging terrain (2020) · cites this paper as [3]
To date, no published work has demonstrated dynamic locomotion in diverse, challenging natural environments as shown in Fig. 1.
“To date, no published work has demonstrated dynamic locomotion in diverse, challenging natural environments as shown in Fig. 1.”
From Learning quadrupedal locomotion over challenging terrain (2020) · cites this paper as [3]
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Cites
Rigid Body Dynamics Algorithms
Featherstone, R. (2008) · Springer eBooks · doi:10.1007/978-1-4899-7560-7 · Cited by 1,391 · see citing works
Principles of Animal Locomotion
Alexander, R. M. (2002) · doi:10.1515/9781400849512 · Cited by 1,151 · see citing works
Design of HyQ – a hydraulically and electrically actuated quadruped robot
Semini, C., Tsagarakis, N. G., Guglielmino, E., Focchi, M., Cannella, F., & Caldwell, D. G. (2011) · Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering · doi:10.1177/0959651811402275 · Cited by 630 · see citing works
Self-citationWieber, P.-B. (2006) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/ichr.2006.321375 · Cited by 542 · see citing works
Centroidal dynamics of a humanoid robot
Orin, D. E., Goswami, A., & Lee, S. (2013) · Autonomous Robots · doi:10.1007/s10514-013-9341-4 · Cited by 480 · see citing works
Winkler, A. W., Bellicoso, C. D., Hutter, M., & Buchli, J. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2798285 · Cited by 451 · see citing works
Popović, M. B., Goswami, A., & Herr, H. (2005) · The International Journal of Robotics Research · doi:10.1177/0278364905058363 · Cited by 327 · see citing works
Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max
Semini, C., Barasuol, V., Goldsmith, J., et al. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2016.2616284 · Cited by 273 · see citing works
Self-citationA Universal Grid Map Library: Implementation and Use Case for Rough Terrain Navigation
Fankhauser, P., & Hutter, M. (2016) · Studies in computational intelligence · doi:10.1007/978-3-319-26054-9_5 · Cited by 249 · see citing works
High-slope terrain locomotion for torque-controlled quadruped robots
Focchi, M., Prete, A. D., Havoutis, I., et al. (2016) · Autonomous Robots · doi:10.1007/s10514-016-9573-1 · Cited by 212 · see citing works
Self-citationRobust Rough-Terrain Locomotion with a Quadrupedal Robot
Fankhauser, P., Bjelonic, M., Bellicoso, C. D., Miki, T., & Hutter, M. (2018) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2018.8460731 · Cited by 210 · see citing works
Testing Static Equilibrium for Legged Robots
Bretl, T., & Lall, S. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.2001360 · Cited by 183 · see citing works
A reactive controller framework for quadrupedal locomotion on challenging terrain
Barasuol, V., Buchli, J., Semini, C., Frigerio, M., Pieri, E. R. D., & Caldwell, D. G. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6630926 · Cited by 164 · see citing works
Self-citationModel-Based Hydraulic Impedance Control for Dynamic Robots
Boaventura, T., Buchli, J., Semini, C., et al. (2015) · IEEE Transactions on Robotics · doi:10.1109/tro.2015.2482061 · Cited by 131 · see citing works
Self-citationPlanning robust walking motion on uneven terrain via convex optimization
Dai, H., & Tedrake, R. (2016) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2016.7803333 · Cited by 125 · see citing works
Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds
Park, H.-W., Wensing, P. M., & Kim, S. (2015) · doi:10.15607/rss.2015.xi.047 · Cited by 124 · see citing works
Aceituno-Cabezas, B., Mastalli, C., Dai, H., et al. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2779821 · Cited by 124 · see citing works
Self-citationGehring, C., Hoepflinger, M. A., Siegwart, R., Coros, S., Hutter, M., Bellicoso, C. D., Heijnen, H., Diethelm, R., Bloesch, M., Fankhauser, P., et al. (2016) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2015.2505910 · Cited by 120 · see citing works
Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots
Camurri, M., Fallon, M. F., Bazeille, S., Radulescu, A., Barasuol, V., Caldwell, D. G., & Semini, C. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2652491 · Cited by 120 · see citing works
Self-citationA Robust Quadruped Walking Gait for Traversing Rough Terrain
Pongas, D., Mistry, M., & Schaal, S. (2007) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2007.363192 · Cited by 116 · see citing works
Rough terrain mapping and classification for foothold selection in a walking robot
Belter, D., & Skrzypczyński, P. (2011) · Journal of Field Robotics · doi:10.1002/rob.20397 · Cited by 107 · see citing works
Winkler, A. W., Mastalli, C., Havoutis, I., et al. (2015) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2015.7139916 · Cited by 96 · see citing works
Self-citationBledt, G., Wensing, P. M., & Kim, S. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206268 · Cited by 93 · see citing works
Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion
Mastalli, C., Focchi, M., Havoutis, I., et al. (2017) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2017.7989131 · Cited by 88 · see citing works
Self-citationStephens, B. J. (2011) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2011.5980358 · Cited by 78 · see citing works
Continuous humanoid locomotion over uneven terrain using stereo fusion
Fallon, M. F., Marion, P., Deits, R., et al. (2015) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2015.7363465 · Cited by 78 · see citing works
From 3D point clouds to climbing stairs: A comparison of plane segmentation approaches for humanoids
Oßwald, S., Gutmann, J.-S., Hornung, A., et al. (2011) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2011.6100836 · Cited by 73 · see citing works
Gramkow, C. (2001) · Journal of Mathematical Imaging and Vision · doi:10.1023/a:1011217513455 · Cited by 66 · see citing works
Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots
Nobili, S., Camurri, M., Barasuol, V., Focchi, M., Caldwell, D. G., Semini, C., & Fallon, M. F. (2017) · Robotics: Science and Systems · doi:10.15607/rss.2017.xiii.007 · Cited by 63 · see citing works
Self-citationEvaluating Direct Transcription and Nonlinear Optimization Methods for Robot Motion Planning
Pardo, D., Moller, L., Neunert, M., et al. (2016) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2016.2527062 · Cited by 62 · see citing works
Orsolino, R., Focchi, M., Mastalli, C., et al. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2836441 · Cited by 61 · see citing works
Self-citationDecoupled state estimation for humanoids using full-body dynamics
Xinjilefu, X., Feng, S., Huang, W., et al. (2014) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2014.6906609 · Cited by 58 · see citing works
Smooth trajectory generation and push-recovery based on Divergent Component of Motion
Englsberger, J., Mesesan, G., & Ott, C. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206324 · Cited by 58 · see citing works
On Time Optimization of Centroidal Momentum Dynamics
Pontón, B., Herzog, A., Prete, A. D., et al. (2018) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2018.8460537 · Cited by 57 · see citing works
LOCAL REFLEX GENERATION FOR OBSTACLE NEGOTIATION IN QUADRUPEDAL LOCOMOTION
Focchi, M., Barasuol, V., Havoutis, I., et al. (2013) · doi:10.1142/9789814525534_0056 · Cited by 49 · see citing works
Self-citation3-D Robust Stability Polyhedron in Multicontact
Audren, H., & Kheddar, A. (2018) · IEEE Transactions on Robotics · doi:10.1109/tro.2017.2786683 · Cited by 46 · see citing works
Slip Detection and Recovery for Quadruped Robots
Focchi, M., Barasuol, V., Frigerio, M., Caldwell, D. G., & Semini, C. (2017) · Springer proceedings in advanced robotics · doi:10.1007/978-3-319-60916-4_11 · Cited by 42 · see citing works
Self-citationOnline payload identification for quadruped robots
Tournois, G., Focchi, M., Prete, A. D., Orsolino, R., Caldwell, D. G., & Semini, C. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206367 · Cited by 40 · see citing works
Self-citationOn-line and on-board planning and perception for quadrupedal locomotion
Mastalli, C., Havoutis, I., Winkler, A. W., et al. (2015) · IEEE International Conference on Technologies for Practical Robot Applications · doi:10.1109/tepra.2015.7219685 · Cited by 38 · see citing works
Self-citationReactive trotting with foot placement corrections through visual pattern classification
Barasuol, V., Camurri, M., Bazeille, S., et al. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7354191 · Cited by 13 · see citing works
Self-citationViscosity-based height reflex for workspace augmentation for quadrupedal locomotion on rough terrain
Focchi, M., Featherstone, R., Orsolino, R., et al. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206430 · Cited by 10 · see citing works
Self-citationOn Time Optimization of Centroidal Momentum DynamicsPreprint
Pontón, B., Herzog, A., Prete, A. D., et al. (2017) · arXiv (Cornell University) · doi:10.48550/arxiv.1709.09265
Flagged first, then by citations
Research works printed but not linked: 8
- [11][11] N. Rotella, 'Estimation-based control for humanoid robots,' in PhD Thesis, University of Southern California (USC) , 2018. -
- [15][15] - C. D. Bellicoso, C. Gehring, J. Hwangbo, P. Fankhauser, and M. Hutter, 'Perception-less terrain adaptation through whole body control and hierarchical optimization,' in 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) , pp. 558-564, Nov 2016. -
- [16][16] C. D. Bellicoso, F. Jenelten, P. Fankhauser, C. Gehring, J. Hwangbo, and M. Hutter, 'Dynamic Locomotion and Whole-Body Control for Quadrupedal Robots,' IEEE/RSJ Intenational Conference on Intelligent Robots and Systems (IROS) , pp. 3359-3365, 2017. -
- [20][20] M. Bloesch, M. Hutter, M. H. Hoepflinger, C. Gehring, C. David Remy, and R. Siegwart, 'State estimation for legged robots: Consistent fusion of leg kinematics and IMU,' vol. 8, pp. 17-24, MIT Press Journals, 2013. -
- [32][32] M. Frigerio, J. Buchli, D. G. Caldwell, and C. Semini, 'RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages,' vol. 7, no. 1, pp. 36-54, 2016. -
- [38][38] H. Audren and A. Kheddar, '3D robust stability polyhedron in multicontact,' Submitted to IEEE Transactions On Robotics (TRO) , 2017. -
- [40][40] C. Semini, N. G. Tsagarakis, E. Guglielmino, M. Focchi, F. Cannella, and D. G. Caldwell, 'Design of hyq - a hydraulically and electrically actuated quadruped robot,' IMechE Part I: Journal of Systems and Control Engineering , vol. 225, no. 6, pp. 831-849, 2011. -
- [41][41] M. Camurri, Multisensory State Estimation and Mapping on Dynamic Quadruperd Robots . PhD thesis, Istituto Italiano di Tecnologia (IIT) and Universiy of Genoa, 2017. http://iit-dlslab.github. io/papers/camurri17phd.pdf . -
Cited by
Sorted by citations
Learning quadrupedal locomotion over challenging terrain
Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., & Hutter, M. (2020) · Science Robotics · doi:10.1126/scirobotics.abc5986 · Cited by 1,156 · see citing works
- Authors
- Focchi, M., Orsolino, R., Camurri, M., Barasuol, V., Mastalli, C., Caldwell, D. G., & Semini, C.
- Affiliations
- Italian Institute of Technology (IT)
- Centre National de la Recherche Scientifique (FR)
- Corresponding author
- Focchi, Michele
- ORCID
- Mastalli, Carlos
- Venue
- Springer Tracts in Advanced Robotics
- Publisher
- Springer International Publishing
- Published
- 2019-09-18
- Pages
- 165-209
- ISSN
- 1610-742X (ISSN-L)
- 1610-7438
- OpenAlex
- W2803575051
- Cited by
- 28
- References
- 42
- Citations by year
- 2026: 1 · 2025: 5 · 2024: 6 · 2023: 4 · 2022: 6 · 2021: 3 · 2020: 2 · 2019: 1
- FWCI
- 4.62
- Type
- book chapter
- Language
- en
- Open access
- green
- arxiv.org
- Licence
- www.springer.com/tdm (tdm)
- Locations
- Springer tracts in advanced robotics (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- Iris (University of Trento) (submittedVersion)
- arXiv (Cornell University)
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Robotic Locomotion and Control
- Physical Sciences › Engineering › Aerospace Engineering › Robotics and Sensor-Based Localization
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
- Keywords
- rough terrain locomotion, legged robots, quadruped robot, heuristic planning, visual feedback, topographic mapping, disturbance estimation, disturbance compensation, reflexes, stepping strategy, unstructured terrain
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
