{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T15:36:30Z","timestamp":1772120190050,"version":"3.50.1"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2025,2,7]],"date-time":"2025-02-07T00:00:00Z","timestamp":1738886400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2025,2,7]],"date-time":"2025-02-07T00:00:00Z","timestamp":1738886400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J Intell Robot Appl"],"published-print":{"date-parts":[[2025,9]]},"DOI":"10.1007\/s41315-024-00412-4","type":"journal-article","created":{"date-parts":[[2025,2,7]],"date-time":"2025-02-07T05:57:14Z","timestamp":1738907834000},"page":"1109-1134","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Experimental evaluation of commercial quadruped robots: stability and performance in non-inertial\u00a0environments"],"prefix":"10.1007","volume":"9","author":[{"given":"Stephen","family":"Misenti","sequence":"first","affiliation":[]},{"given":"Brendan","family":"Hertel","sequence":"additional","affiliation":[]},{"given":"Bowen","family":"Weng","sequence":"additional","affiliation":[]},{"given":"Ryan","family":"Donald","sequence":"additional","affiliation":[]},{"given":"Advait","family":"Jawaji","sequence":"additional","affiliation":[]},{"given":"Magnus-Tryggvi","family":"Kosoko-Thoroddsen","sequence":"additional","affiliation":[]},{"given":"J. Gregory","family":"Trafton","sequence":"additional","affiliation":[]},{"given":"Adam","family":"Norton","sequence":"additional","affiliation":[]},{"given":"Reza","family":"Azadeh","sequence":"additional","affiliation":[]},{"given":"Yan","family":"Gu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,2,7]]},"reference":[{"issue":"2","key":"412_CR3","doi-asserted-by":"publisher","first-page":"914","DOI":"10.1109\/LRA.2019.2952291","volume":"5","author":"F Aller","year":"2019","unstructured":"Aller, F., Pinto-Fernandez, D., Torricelli, D., Pons, J.L., Mombaur, K.: From the state of the art of assessment metrics toward novel concepts for humanoid robot locomotion benchmarking. IEEE Robot. Autom. Lett. 5(2), 914\u2013920 (2019)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"412_CR2","unstructured":"B.V., M.M.: M-Gait: The High-Tech Modular Treadmill System. https:\/\/www.motekmedical.com\/solution\/m-gait\/ (2024). Accessed 14 July 2024"},{"key":"412_CR4","unstructured":"BostonDynamics: Spot\u2014The Agile Mobile Robot. https:\/\/bostondynamics.com\/products\/spot\/ (2023). Accessed 9 Nov 2023"},{"key":"412_CR5","unstructured":"Brennan, S.: In Focus: Motek. https:\/\/logemas.com\/in-focus-motek\/ (2023). Accessed 13 July 2024"},{"issue":"2","key":"412_CR6","doi-asserted-by":"publisher","first-page":"517","DOI":"10.1109\/TRO.2019.2923971","volume":"36","author":"S Caron","year":"2019","unstructured":"Caron, S., Escande, A., Lanari, L., Mallein, B.: Capturability-based pattern generation for walking with variable height. IEEE Trans. Robot. 36(2), 517\u2013536 (2019)","journal-title":"IEEE Trans. Robot."},{"issue":"5","key":"412_CR7","doi-asserted-by":"publisher","first-page":"114","DOI":"10.3390\/robotics11050114","volume":"11","author":"JA Castano","year":"2022","unstructured":"Castano, J.A., Humphreys, J., Mingo Hoffman, E., Fern\u00e1ndez Talavera, N., Rodriguez Sanchez, M.C., Zhou, C.: Benchmarking dynamic balancing controllers for humanoid robots. Robotics 11(5), 114 (2022)","journal-title":"Robotics"},{"key":"412_CR8","doi-asserted-by":"publisher","first-page":"2111","DOI":"10.1109\/TRO.2023.3240622","volume":"39","author":"H Chen","year":"2023","unstructured":"Chen, H., Hong, Z., Yang, S., Wensing, P.M., Zhang, W.: Quadruped capturability and push recovery via a switched-systems characterization of dynamic balance. IEEE Trans. Robot. 39, 2111\u20132130 (2023)","journal-title":"IEEE Trans. Robot."},{"key":"412_CR9","doi-asserted-by":"crossref","unstructured":"Dai, M., Xiong, X., Ames, A.: Bipedal walking on constrained footholds: momentum regulation via vertical com control. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 10435\u201310441 (2022)","DOI":"10.1109\/ICRA46639.2022.9812247"},{"key":"412_CR10","doi-asserted-by":"crossref","unstructured":"Donald, R., Hertel, B., Misenti, S., Yan, G., Azadeh, R.: An adaptive framework for manipulator skill reproduction in dynamic environments. In: Proceedings of International Conference on Ubiquitous Robots, pp. 498\u2013503 (2024)","DOI":"10.1109\/UR61395.2024.10597445"},{"key":"412_CR1","unstructured":"G., M.: Boston Dynamics Case Subject: \u201cSpot CoM using urdf\u201d\u2019. https:\/\/support.bostondynamics.com\/s\/case\/5004X00001vd7VzQAI\/spot-com-using-urdf (2023). Accessed 13 Nov 2023"},{"key":"412_CR11","doi-asserted-by":"crossref","unstructured":"Gao, Y., Gong, Y., Paredes, V., Hereid, A., Gu, Y.: Time-varying ALIP model and robust foot-placement control for underactuated bipedal robotic walking on a swaying rigid surface. In: Proceedings of American Control Conference, pp. 3282\u20133287 (2023)","DOI":"10.23919\/ACC55779.2023.10156254"},{"key":"412_CR12","unstructured":"Gao, Y.: Time-varying control and state estimation for bipedal locomotion. Ph.D. thesis, University of Massachusetts Lowell (2023)"},{"issue":"4","key":"412_CR13","doi-asserted-by":"publisher","first-page":"1900","DOI":"10.1109\/TMECH.2022.3176015","volume":"27","author":"Y Gao","year":"2022","unstructured":"Gao, Y., Yuan, C., Gu, Y.: Invariant filtering for legged humanoid locomotion on a dynamic rigid surface. IEEE\/ASME Trans. Mechatron. 27(4), 1900\u20131909 (2022)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"412_CR14","doi-asserted-by":"crossref","unstructured":"Gibson, G., Dosunmu-Ogunbi, O., Gong, Y., Grizzle, J.: Terrain-adaptive, alip-based bipedal locomotion controller via model predictive control and virtual constraints. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 6724\u20136731 (2022)","DOI":"10.1109\/IROS47612.2022.9981969"},{"key":"412_CR15","doi-asserted-by":"crossref","unstructured":"Gu, Y., Yao, B., Lee, C.S.G.: Feasible center of mass dynamic manipulability of humanoid robots. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 5082\u20135087 (2015)","DOI":"10.1109\/ICRA.2015.7139906"},{"key":"412_CR16","doi-asserted-by":"crossref","unstructured":"He, Z., Teng, S., Lin, T.-Y., Ghaffari, M., Gu, Y.: Legged robot state estimation within non-inertial environments. In: Proceedings of Control and Decision Conference (2024, to appear)","DOI":"10.1109\/CDC56724.2024.10886579"},{"key":"412_CR17","unstructured":"Inc., M.A.: Motion Analysis: cortex software. https:\/\/www.motionanalysis.com\/software\/cortex-software\/ (2024). Accessed 14 July 2024"},{"key":"412_CR18","unstructured":"Inc., M.A.: Motion Analysis: three types of camera, with a range of specs. https:\/\/www.motionanalysis.com\/camera\/ (2024). Accessed 14 July 2024"},{"key":"412_CR19","doi-asserted-by":"crossref","unstructured":"Iqbal, A., Gu, Y.: Extended capture point and optimization-based control for quadrupedal robot walking on dynamic rigid surfaces. In: Proceedings of IFAC Modeling, Estimation, and Control Conference, vol. 54, pp. 72\u201377 (2021)","DOI":"10.1016\/j.ifacol.2021.11.155"},{"key":"412_CR20","doi-asserted-by":"crossref","unstructured":"Iqbal, A., Veer, S., Gu, Y.: Asymptotic stabilization of aperiodic trajectories of a hybrid-linear inverted pendulum walking on a vertically moving surface. In: Proceedings of American Control Conference, pp. 3030\u20133035 (2023)","DOI":"10.23919\/ACC55779.2023.10156645"},{"key":"412_CR21","unstructured":"Iqbal, A.: Modeling, planning, and control of quadrupedal locomotion on dynamic rigid surfaces with unknown vertical motions. Ph.D. thesis, University of Massachusetts Lowell (2023)"},{"issue":"4","key":"412_CR22","doi-asserted-by":"publisher","first-page":"2035","DOI":"10.1109\/TMECH.2020.2999900","volume":"25","author":"A Iqbal","year":"2020","unstructured":"Iqbal, A., Gao, Y., Gu, Y.: Provably stabilizing controllers for quadrupedal robot locomotion on dynamic rigid platforms. IEEE\/ASME Trans. Mech. 25(4), 2035\u20132044 (2020)","journal-title":"IEEE\/ASME Trans. Mech."},{"key":"412_CR23","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2023.103073","volume":"96","author":"A Iqbal","year":"2023","unstructured":"Iqbal, A., Veer, S., Gu, Y.: Analytical solution to a time-varying LIP model for quadrupedal walking on a vertically oscillating surface. Mechatronics 96, 103073 (2023)","journal-title":"Mechatronics"},{"key":"412_CR500","doi-asserted-by":"crossref","unstructured":"Norton, A., Ahmadzadeh, S. R., Jerath, K., Robinette, P.,  Weitzen, J., Wickramarathne, T., Yanco, H., Choi, M.,  Donald, R., Donoghue, B.,  et al.: Decisive test methods handbook: Test methods for evaluating sUAS in subterranean and constrained indoor environments, pp. 1\u2013107. arXiv:2211.01801 (2022)","DOI":"10.1109\/HST53381.2021.9619836"},{"key":"412_CR33","unstructured":"Norton, A., Ahmadzadeh, S. R., Jerath, K., Robinette, P.,  Weitzen, J., Wickramarathne, T., Yanco, H., Choi, M.,  Donald, R., Donoghueet, B.,  Dumas, C.,  Gavriel, P., Giedraitis,  A., Hertel, B., Houle, J.,  Letteri, N.,  Meriaux, E.,  Khavas,  Z. R., Singh, R., Willcox, G., Yoni, N.: DECISIVE Benchmarking Data Report: sUAS Performance Results from Phase I. arXiv:2301.07853 (2023)"},{"key":"412_CR24","unstructured":"Radosavovic, I., Xiao, T., Zhang, B., Darrell, T., Malik, J., Sreenath, K.: Learning humanoid locomotion with transformers (2023). arXiv preprint arXiv:2303.03381"},{"key":"412_CR25","doi-asserted-by":"crossref","unstructured":"Shi, F., Zhang, C., Miki, T., Lee, J., Hutter, M., Coros, S.: Rethinking robustness assessment: adversarial attacks on learning-based quadrupedal locomotion controllers. In: Proceedings of Robotics: Science and Systems (2024)","DOI":"10.15607\/RSS.2024.XX.057"},{"key":"412_CR26","doi-asserted-by":"crossref","unstructured":"Torricelli, D., Pons, J.L.: Eurobench: preparing robots for the real world. In: Wearable Robotics: Challenges and Trends: Proceedings of the International Symposium on Wearable Robotics, pp. 375\u2013378. Springer (2019)","DOI":"10.1007\/978-3-030-01887-0_72"},{"key":"412_CR27","doi-asserted-by":"crossref","unstructured":"Weng, B., Castillo, G.A., Kang, Y.-S., Hereid, A.: Towards standardized disturbance rejection testing of legged robot locomotion with linear impactor: a preliminary study, observations, and implications. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 9946\u20139952 (2024)","DOI":"10.1109\/ICRA57147.2024.10610064"},{"key":"412_CR28","doi-asserted-by":"crossref","unstructured":"Weng, B., Castillo, G.A., Zhang, W., Hereid, A.: On safety testing, validation, and characterization with scenario-sampling: a case study of legged robots. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 5179\u20135186 (2022)","DOI":"10.1109\/IROS47612.2022.9981359"},{"key":"412_CR29","doi-asserted-by":"publisher","first-page":"3299","DOI":"10.1109\/TRO.2023.3267020","volume":"39","author":"B Weng","year":"2023","unstructured":"Weng, B., Castillo, G.A., Zhang, W., Hereid, A.: On the comparability and optimal aggressiveness of the adversarial scenario-based safety testing of robots. IEEE Trans. Robot. 39, 3299\u20133318 (2023)","journal-title":"IEEE Trans. Robot."},{"key":"412_CR30","volume-title":"Feedback Control of Dynamic Bipedal Robot Locomotion","author":"ER Westervelt","year":"2007","unstructured":"Westervelt, E.R., Chevallereau, C., Choi, J.H., Morris, B., Grizzle, J.W.: Feedback Control of Dynamic Bipedal Robot Locomotion. CRC Press, Boca Raton (2007)"},{"key":"412_CR31","doi-asserted-by":"publisher","first-page":"2405","DOI":"10.1109\/TRO.2022.3150219","volume":"38","author":"X Xiong","year":"2022","unstructured":"Xiong, X., Ames, A.: 3-d underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization. IEEE Trans. Robot. 38, 2405\u20132425 (2022)","journal-title":"IEEE Trans. Robot."},{"key":"412_CR32","doi-asserted-by":"publisher","first-page":"95","DOI":"10.1007\/s41315-020-00122-7","volume":"4","author":"Y Zhao","year":"2020","unstructured":"Zhao, Y., Gu, Y.: A non-periodic planning and control framework of dynamic legged locomotion. Int. J. Intell. Robot. Appl. 4, 95\u2013108 (2020)","journal-title":"Int. J. Intell. Robot. Appl."}],"container-title":["International Journal of Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-024-00412-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s41315-024-00412-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-024-00412-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,8]],"date-time":"2025-10-08T10:15:57Z","timestamp":1759918557000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s41315-024-00412-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,2,7]]},"references-count":34,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2025,9]]}},"alternative-id":["412"],"URL":"https:\/\/doi.org\/10.1007\/s41315-024-00412-4","relation":{"has-preprint":[{"id-type":"doi","id":"10.21203\/rs.3.rs-5099242\/v1","asserted-by":"object"}]},"ISSN":["2366-5971","2366-598X"],"issn-type":[{"value":"2366-5971","type":"print"},{"value":"2366-598X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,2,7]]},"assertion":[{"value":"16 September 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 December 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 February 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}