{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,8]],"date-time":"2025-11-08T23:07:54Z","timestamp":1762643274567,"version":"build-2065373602"},"publisher-location":"Singapore","reference-count":32,"publisher":"Springer Nature Singapore","isbn-type":[{"type":"print","value":"9789819543977"},{"type":"electronic","value":"9789819543984"}],"license":[{"start":{"date-parts":[[2025,11,9]],"date-time":"2025-11-09T00:00:00Z","timestamp":1762646400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,11,9]],"date-time":"2025-11-09T00:00:00Z","timestamp":1762646400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026]]},"DOI":"10.1007\/978-981-95-4398-4_20","type":"book-chapter","created":{"date-parts":[[2025,11,8]],"date-time":"2025-11-08T16:36:52Z","timestamp":1762619812000},"page":"281-293","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Learning Smooth and\u00a0Coordinated Quadruped Motions via\u00a0Incremental Foot Position Control"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8449-046X","authenticated-orcid":false,"given":"Yanyun","family":"Chen","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7436-7997","authenticated-orcid":false,"given":"Jiapeng","family":"Sheng","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9930-5845","authenticated-orcid":false,"given":"Xing","family":"Fang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0009-0006-4197-142X","authenticated-orcid":false,"given":"Wenhao","family":"Tan","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5288-4325","authenticated-orcid":false,"given":"Zhiheng","family":"Li","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1057-7909","authenticated-orcid":false,"given":"Qian","family":"Zhang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1344-4415","authenticated-orcid":false,"given":"Ran","family":"Song","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4960-3190","authenticated-orcid":false,"given":"Wei","family":"Zhang","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,11,9]]},"reference":[{"key":"20_CR1","doi-asserted-by":"crossref","unstructured":"Cheng, Y., Liu, H., Pan, G., Liu, H., Ye, L.: Quadruped robot traversing 3D complex environments with limited perception. In: 2024 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 9074\u20139081 (2024)","DOI":"10.1109\/IROS58592.2024.10801507"},{"key":"20_CR2","doi-asserted-by":"crossref","unstructured":"Bledt, G., Powell, M.J., Katz, B., Di\u00a0Carlo, J., Wensing, P.M., Kim, S.: MIT cheetah 3: design and control of a robust, dynamic quadruped robot. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2245\u20132252 (2018)","DOI":"10.1109\/IROS.2018.8593885"},{"key":"20_CR3","doi-asserted-by":"crossref","unstructured":"Miki, T., Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., Hutter, M.: Learning robust perceptive locomotion for quadrupedal robots in the wild. Sci. Robot. 7(62), eabk2822 (2022)","DOI":"10.1126\/scirobotics.abk2822"},{"issue":"6","key":"20_CR4","doi-asserted-by":"publisher","first-page":"2300783","DOI":"10.1002\/aisy.202300783","volume":"6","author":"Y Fan","year":"2024","unstructured":"Fan, Y., Pei, Z., Wang, C., Li, M., Tang, Z., Liu, Q.: A review of quadruped robots: structure, control, and autonomous motion. Adv. Intell. Syst. 6(6), 2300783 (2024)","journal-title":"Adv. Intell. Syst."},{"key":"20_CR5","doi-asserted-by":"crossref","unstructured":"Nygaard, T.F., Martin, C.P., Torresen, J., Glette, K., Howard, D.: Real-world embodied AI through a morphologically adaptive quadruped robot. Nat. Mach. Intell. 3(5), 410\u2013419 (2021)","DOI":"10.1038\/s42256-021-00320-3"},{"key":"20_CR6","doi-asserted-by":"crossref","unstructured":"Di\u00a0Carlo, J., Wensing, P.M., Katz, B., Bledt, G., Kim, S.: Dynamic locomotion in the MIT cheetah 3 through convex model-predictive control. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1\u20139 (2018)","DOI":"10.1109\/IROS.2018.8594448"},{"key":"20_CR7","doi-asserted-by":"crossref","unstructured":"Bledt, G., Wensing, P.M., Ingersoll, S., Kim, S.: Contact model fusion for event-based locomotion in unstructured terrains. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4399\u20134406 (2018)","DOI":"10.1109\/ICRA.2018.8460904"},{"key":"20_CR8","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2023.108689","volume":"142","author":"J Qi","year":"2023","unstructured":"Qi, J., et al.: Reinforcement learning-based stable jump control method for asteroid-exploration quadruped robots. Aerosp. Sci. Technol. 142, 108689 (2023)","journal-title":"Aerosp. Sci. Technol."},{"issue":"7","key":"20_CR9","doi-asserted-by":"publisher","first-page":"787","DOI":"10.1038\/s42256-024-00861-3","volume":"6","author":"L Han","year":"2024","unstructured":"Han, L., et al.: Lifelike agility and play in quadrupedal robots using reinforcement learning and generative pre-trained models. Nat. Mach. Intell. 6(7), 787\u2013798 (2024)","journal-title":"Nat. Mach. Intell."},{"issue":"2","key":"20_CR10","doi-asserted-by":"publisher","first-page":"2682","DOI":"10.1109\/LRA.2021.3062342","volume":"6","author":"T Li","year":"2021","unstructured":"Li, T., Calandra, R., Pathak, D., Tian, Y., Meier, F., Rai, A.: Planning in learned latent action spaces for generalizable legged locomotion. IEEE Robot. Autom. Lett. 6(2), 2682\u20132689 (2021)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"20_CR11","doi-asserted-by":"publisher","first-page":"2984","DOI":"10.1109\/TRO.2024.3400935","volume":"40","author":"Y Kim","year":"2024","unstructured":"Kim, Y., et al.: Not only rewards but also constraints: applications on legged robot locomotion. IEEE Trans. Rob. 40, 2984\u20133003 (2024)","journal-title":"IEEE Trans. Rob."},{"key":"20_CR12","unstructured":"Da, X., et al.: Learning a contact-adaptive controller for robust, efficient legged locomotion. arXiv preprint arXiv:2009.10019 (2020)"},{"key":"20_CR13","doi-asserted-by":"crossref","unstructured":"Peng, X.B., Berseth, G., Van\u00a0de Panne, M.: Terrain-adaptive locomotion skills using deep reinforcement learning. ACM Trans. Graph. (TOG) 35(4), 1\u201312 (2016)","DOI":"10.1145\/2897824.2925881"},{"key":"20_CR14","doi-asserted-by":"crossref","unstructured":"Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., Hutter, M.: Learning quadrupedal locomotion over challenging terrain. Sci. Robot. 5(47) (2020)","DOI":"10.1126\/scirobotics.abc5986"},{"key":"20_CR15","unstructured":"Rahme, M., Abraham, I., Elwin, M.L., Murphey, T.D.: Dynamics and domain randomized gait modulation with bezier curves for sim-to-real legged locomotion. arXiv preprint arXiv:2010.12070 (2020)"},{"key":"20_CR16","doi-asserted-by":"crossref","unstructured":"Yu, W., Turk, G., Liu, C.K.: Learning symmetric and low-energy locomotion. ACM Trans. Graph. (TOG) 37(4), 1\u201312 (2018)","DOI":"10.1145\/3197517.3201397"},{"key":"20_CR17","doi-asserted-by":"crossref","unstructured":"Hwangbo, J., et al.: Learning agile and dynamic motor skills for legged robots. Sci. Robot. 4(26) (2019)","DOI":"10.1126\/scirobotics.aau5872"},{"key":"20_CR18","doi-asserted-by":"crossref","unstructured":"Boussema, C., Powell, M.J., Bledt, G., Ijspeert, A.J., Wensing, P.M., Kim, S.: Online gait transitions and disturbance recovery for legged robots via the feasible impulse set. IEEE Robot. Autom. Lett. 4(2), 1611\u20131618 (2019)","DOI":"10.1109\/LRA.2019.2896723"},{"key":"20_CR19","unstructured":"Sen, M.A., Bakircioglu, V., Kalyoncu, M.: Inverse kinematic analysis of a quadruped robot. Int. J. Sci. Technol. Res. 6(9), 285\u2013289 (2017)"},{"key":"20_CR20","doi-asserted-by":"crossref","unstructured":"Bellegarda, G., Chen, Y., Liu, Z., Nguyen, Q.: Robust high-speed running for quadruped robots via deep reinforcement learning. In: 2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 10364\u201310370 (2022)","DOI":"10.1109\/IROS47612.2022.9982132"},{"key":"20_CR21","doi-asserted-by":"publisher","first-page":"5551","DOI":"10.1109\/TASE.2024.3424328","volume":"22","author":"C Chen","year":"2025","unstructured":"Chen, C., Li, C., Haojian, L., Wang, Y., Xiong, R.: Meta reinforcement learning of locomotion policy for quadruped robots with motor stuck. IEEE Trans. Autom. Sci. Eng. 22, 5551\u20135565 (2025)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"20_CR22","unstructured":"Iscen, A., et al.: Policies modulating trajectory generators. In: Conference on Robot Learning, pp. 916\u2013926. PMLR (2018)"},{"key":"20_CR23","doi-asserted-by":"crossref","unstructured":"Hutter, M., et\u00a0al.: ANYmal-a highly mobile and dynamic quadrupedal robot. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 38\u201344 (2016)","DOI":"10.1109\/IROS.2016.7758092"},{"key":"20_CR24","unstructured":"Wang, X.: Laikago pro, unitree robotics. http:\/\/www.unitree.cc\/e\/action\/ShowInfo.php?classid=6&id=355 (2018)"},{"key":"20_CR25","unstructured":"Peng, X.B., Coumans, E., Zhang, T., Lee, T.-W., Tan, J., Levine, S.: Learning agile robotic locomotion skills by imitating animals. arXiv preprint arXiv:2004.00784 (2020)"},{"key":"20_CR26","unstructured":"Schulman, J., Wolski, F., Dhariwal, P., Radford, A., Klimov, O.: Proximal policy optimization algorithms. arXiv preprint arXiv:1707.06347 (2017)"},{"key":"20_CR27","unstructured":"Sutton, R.S., Barto, A.G.: Reinforcement learning: An introduction. MIT Press (2018)"},{"key":"20_CR28","doi-asserted-by":"crossref","unstructured":"Katz, B., Di\u00a0Carlo, J., Kim, S.: Mini cheetah: a platform for pushing the limits of dynamic quadruped control. In: International Conference on Robotics and Automation (ICRA), pp. 6295\u20136301 (2019)","DOI":"10.1109\/ICRA.2019.8793865"},{"key":"20_CR29","doi-asserted-by":"crossref","unstructured":"Tan, J., et al.: Sim-to-real: Learning agile locomotion for quadruped robots. arXiv preprint arXiv:1804.10332 (2018)","DOI":"10.15607\/RSS.2018.XIV.010"},{"key":"20_CR30","doi-asserted-by":"crossref","unstructured":"Sheng, J., et al.: Bio-inspired rhythmic locomotion for quadruped robots. IEEE Robot. Autom. Lett. 7, 6782\u20136789 (2022)","DOI":"10.1109\/LRA.2022.3177289"},{"issue":"9","key":"20_CR31","doi-asserted-by":"publisher","first-page":"8138","DOI":"10.1109\/LRA.2024.3418310","volume":"9","author":"M Liu","year":"2024","unstructured":"Liu, M., et al.: MCLER: multi-critic continual learning with experience replay for quadruped gait generation. IEEE Robot. Autom. Lett. 9(9), 8138\u20138145 (2024)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"20_CR32","unstructured":"Coumans, E., Bai, Y.: Pybullet, a python module for physics simulation for games, robotics and machine learning. http:\/\/pybullet.org 2016\u20132019"}],"container-title":["Lecture Notes in Computer Science","Pattern Recognition and Computer Vision"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-981-95-4398-4_20","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,11,8]],"date-time":"2025-11-08T23:02:18Z","timestamp":1762642938000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-981-95-4398-4_20"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11,9]]},"ISBN":["9789819543977","9789819543984"],"references-count":32,"URL":"https:\/\/doi.org\/10.1007\/978-981-95-4398-4_20","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2025,11,9]]},"assertion":[{"value":"9 November 2025","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ACPR","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Asian Conference on Pattern Recognition","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Gold Coast, QLD","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Australia","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2025","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"10 November 2025","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"13 November 2025","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"acpr2025","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/www.acpr2025.com\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}