{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,9]],"date-time":"2025-12-09T08:27:19Z","timestamp":1765268839933,"version":"3.40.3"},"publisher-location":"Cham","reference-count":25,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783031152252"},{"type":"electronic","value":"9783031152269"}],"license":[{"start":{"date-parts":[[2022,8,25]],"date-time":"2022-08-25T00:00:00Z","timestamp":1661385600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,8,25]],"date-time":"2022-08-25T00:00:00Z","timestamp":1661385600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023]]},"DOI":"10.1007\/978-3-031-15226-9_21","type":"book-chapter","created":{"date-parts":[[2022,8,24]],"date-time":"2022-08-24T03:27:47Z","timestamp":1661311667000},"page":"204-215","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Learning Energy-Efficient Trotting for\u00a0Legged Robots"],"prefix":"10.1007","author":[{"given":"Athanasios","family":"Mastrogeorgiou","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aristotelis","family":"Papatheodorou","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Konstantinos","family":"Koutsoukis","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Evangelos","family":"Papadopoulos","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,8,25]]},"reference":[{"key":"21_CR1","unstructured":"https:\/\/nereus.mech.ntua.gr\/legged\/laelaps-2-2\/. Accessed 15 Apr 2022"},{"key":"21_CR2","unstructured":"Peng, X.B., Coumans, E., Zhang, T., Lee, T.-W.E., Tan, J., Levine, S.: Learning agile robotic locomotion skills by imitating animals. Robot. Sci. Syst., July 2020"},{"key":"21_CR3","doi-asserted-by":"crossref","unstructured":"Haarnoja, T., Ha, S., Zhou, A., Tan, J., Tucker, G., Levine, S.: Learning to walk via deep reinforcement learning. Robot. Sci. Syst. (2019)","DOI":"10.15607\/RSS.2019.XV.011"},{"key":"21_CR4","unstructured":"Xie, Z., Clary, P., Dao, J., Morais, P., Hurst, J., van de Panne, M.: Iterative reinforcement learning based design of dynamic locomotion skills for cassie. arXiv, preprint arXiv:1903.09537 (2019)"},{"issue":"47","key":"21_CR5","doi-asserted-by":"publisher","first-page":"eabc5986","DOI":"10.1126\/scirobotics.abc5986","volume":"5","author":"J Lee","year":"2020","unstructured":"Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., Hutter, M.: Learning quadrupedal locomotion over challenging terrain. Sci. Robot. 5(47), eabc5986 (2020)","journal-title":"Sci. Robot."},{"key":"21_CR6","doi-asserted-by":"crossref","unstructured":"Mastrogeorgiou, A., ElBahrawy, Y., Kecskem\u00e9thy, A., Papadopoulos, E.: Slope handling for quadruped robots using deep reinforcement learning and trajectory planning. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Las Vegas, NV, USA, 25\u201329 October 2020 (2020)","DOI":"10.1109\/IROS45743.2020.9341645"},{"key":"21_CR7","doi-asserted-by":"crossref","unstructured":"Iscen, A., Yu, G., Escontrela, A., Jain, D., Tan, J., Caluwaerts, K.: Learning agile locomotion skills with a mentor. In: 2021 International Conference on Robotics and Automation (ICRA) (2021)","DOI":"10.1109\/ICRA48506.2021.9561567"},{"key":"21_CR8","doi-asserted-by":"publisher","unstructured":"Tan, J., et\u00a0al.: Sim-to-real: learning agile locomotion for quadruped robots (2018). arXiv, doi: https:\/\/doi.org\/10.48550\/arxiv.1804.10332","DOI":"10.48550\/arxiv.1804.10332"},{"key":"21_CR9","doi-asserted-by":"crossref","unstructured":"Koutsoukis, K., Papadopoulos, E.: On the effect of robotic leg design on energy efficiency. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), Xi\u2019an, China, 30 May\u20135 June 2021 (2021)","DOI":"10.1109\/ICRA48506.2021.9560997"},{"key":"21_CR10","doi-asserted-by":"publisher","unstructured":"Iscen, A., et\u00a0al.: Policies modulating trajectory generators (2019). arXiv, doi: https:\/\/doi.org\/10.48550\/arxiv.1910.02812","DOI":"10.48550\/arxiv.1910.02812"},{"key":"21_CR11","doi-asserted-by":"crossref","unstructured":"Machairas, K., Papadopoulos, E.: An active compliance controller for quadruped trotting. In: 24th Mediterranean Conference on Control and Automation (MED 2016), Athens, Greece, 21\u201324 June 2016 (2016)","DOI":"10.1109\/MED.2016.7536064"},{"key":"21_CR12","unstructured":"Papatheodorou, A.: Design & implementation of a real-time distributed EtherCAT-based motion control system for a multi-DoF quadruped robot. Diploma thesis, CSL, NTUA, Athens (2021). https:\/\/dspace.lib.ntua.gr\/xmlui\/handle\/123456789\/53738"},{"key":"21_CR13","doi-asserted-by":"publisher","unstructured":"Todorov, E., Erez, T., Tassa, Y.: MuJoCo: a physics engine for model-based control. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, vol. 2012, pp. 5026\u20135033 (2012). https:\/\/doi.org\/10.1109\/IROS.2012.6386109","DOI":"10.1109\/IROS.2012.6386109"},{"key":"21_CR14","doi-asserted-by":"publisher","first-page":"51416","DOI":"10.1109\/ACCESS.2021.3068769","volume":"9","author":"J Collins","year":"2021","unstructured":"Collins, J., Chand, S., Vanderkop, A., Howard, D.: A review of physics simulators for robotic applications. IEEE Access 9, 51416\u201351431 (2021). https:\/\/doi.org\/10.1109\/ACCESS.2021.3068769","journal-title":"IEEE Access"},{"issue":"1","key":"21_CR15","first-page":"26","volume":"3","author":"I Virgala","year":"2013","unstructured":"Virgala, I., Kelemen, M.: Experimental friction identification of a DC motor. Int. J. Mech. Appl. 3(1), 26\u201330 (2013)","journal-title":"Int. J. Mech. Appl."},{"key":"21_CR16","doi-asserted-by":"crossref","unstructured":"Machairas, K., Papadopoulos, E.: An analytical study on trotting at constant velocity and height. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018, pp. 3279\u20133284 (2018)","DOI":"10.1109\/IROS.2018.8593686"},{"key":"21_CR17","unstructured":"Brockman, G., et al.: OpenAI Gym (2016)"},{"key":"21_CR18","unstructured":"Raffin, A., Hill, A., Gleave, A., Kanervisto, A., Ernestus, M., Dormann, N.: Stable-Baselines3: reliable reinforcement learning implementations. J. Mach. Learn. Res. 22, 1\u20138 (2021). https:\/\/jmlr.org\/papers\/v22\/20-1364.html"},{"key":"21_CR19","unstructured":"Mastrogeorgiou, A., ElBahrawy, Y., Machairas, K., Kecskem\u00e9thy, A., Papadopoulos, E.: Evaluating deep reinforcement learning algorithms for quadrupedal slope handling. In: 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2020), Moscow, Russian Federation, 24\u201326 August 2020 (2020)"},{"key":"21_CR20","unstructured":"Haarnoja, T., Zhou, A., Abbeel, P., Levine, S.: Soft actor-critic: off-policy maximum entropy deep reinforcement learning with a stochastic actor. In: International Conference on Machine Learning (2018)"},{"key":"21_CR21","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/S0377-0427(00)00444-1","volume":"134","author":"A Horwitz","year":"2001","unstructured":"Horwitz, A.: A version of Simpson\u2019s rule for multiple integrals. J. Comput. Appl. Math. 134, 1\u201311 (2001)","journal-title":"J. Comput. Appl. Math."},{"key":"21_CR22","unstructured":"https:\/\/www.xsens.com\/products\/mti-100-series"},{"key":"21_CR23","doi-asserted-by":"publisher","unstructured":"Gangapurwala, S., Geisert, M., Orsolino, R., Fallon, M., Havoutis, I.: RLOC: terrain-aware legged locomotion using reinforcement learning and optimal control (2020). arXiv, doi: https:\/\/doi.org\/10.48550\/arxiv.2012.03094","DOI":"10.48550\/arxiv.2012.03094"},{"key":"21_CR24","unstructured":"https:\/\/ocw.mit.edu\/courses\/2-161-signal-processing-continuous-and-discrete-fall-2008"},{"key":"21_CR25","unstructured":"https:\/\/bitbucket.org\/csl_legged\/laelaps_rl_mujoco\/. Accessed 15 Apr 2022"}],"container-title":["Lecture Notes in Networks and Systems","Robotics in Natural Settings"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-031-15226-9_21","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,8,24]],"date-time":"2022-08-24T03:36:42Z","timestamp":1661312202000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-031-15226-9_21"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,8,25]]},"ISBN":["9783031152252","9783031152269"],"references-count":25,"URL":"https:\/\/doi.org\/10.1007\/978-3-031-15226-9_21","relation":{},"ISSN":["2367-3370","2367-3389"],"issn-type":[{"type":"print","value":"2367-3370"},{"type":"electronic","value":"2367-3389"}],"subject":[],"published":{"date-parts":[[2022,8,25]]},"assertion":[{"value":"25 August 2022","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"CLAWAR","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Climbing and Walking Robots Conference","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Ponta Delgada","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Portugal","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2022","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"12 September 2022","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"14 September 2022","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"clawar2022","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/clawar.org\/clawar2022\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}