{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,18]],"date-time":"2025-09-18T10:53:27Z","timestamp":1758192807391,"version":"3.44.0"},"reference-count":45,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"DOI":"10.13039\/100006190","name":"National Research and Development Agency of Chile (ANID) under Fondecyt Iniciaci\u00f3n 2025","doi-asserted-by":"publisher","award":["11240105"],"award-info":[{"award-number":["11240105"]}],"id":[{"id":"10.13039\/100006190","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2025]]},"DOI":"10.1109\/access.2025.3604236","type":"journal-article","created":{"date-parts":[[2025,8,29]],"date-time":"2025-08-29T17:43:14Z","timestamp":1756489394000},"page":"159157-159177","source":"Crossref","is-referenced-by-count":0,"title":["Dynamic Environment Adaptation in Biped Robots: A Reinforcement Learning Approach"],"prefix":"10.1109","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0009-0006-3196-9692","authenticated-orcid":false,"given":"Matias","family":"Soto","sequence":"first","affiliation":[{"name":"Facultad de Ingenier&#x00ED;a, Universidad Andres Bello, Santiago, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5591-3518","authenticated-orcid":false,"given":"Pablo","family":"Orme\u00f1o-Arriagada","sequence":"additional","affiliation":[{"name":"Facultad de Ingenier&#x00ED;a, Negocios y Ciencias Agroambientales, Ingenier&#x00ED;a Civil Inform&#x00E1;tica, Universidad Vi&#x00F1;a del Mar, Vi&#x00F1;a del Mar, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-0282-2357","authenticated-orcid":false,"given":"Jorge","family":"V\u00e1squez","sequence":"additional","affiliation":[{"name":"Facultad de Ingenier&#x00ED;a Ciencias, Universidad Adolfo Ib&#x00E1;&#x00F1;ez, Santiago, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8318-4201","authenticated-orcid":false,"given":"Carla","family":"Taramasco","sequence":"additional","affiliation":[{"name":"Centro para la Prevenci&#x00F3;n y el Control del C&#x00E1;ncer, Santiago, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6372-7405","authenticated-orcid":false,"given":"Juan","family":"Pablo V\u00e1sconez","sequence":"additional","affiliation":[{"name":"Energy Transformation Center, Faculty of Engineering, Universidad Andr&#x00E9;s Bello, Santiago, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1816-6856","authenticated-orcid":false,"given":"Gustavo","family":"Gatica","sequence":"additional","affiliation":[{"name":"Facultad de Ingenier&#x00ED;a, Universidad Andres Bello, Santiago, Chile"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3057406"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2004.01.031"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/70.976014"},{"key":"ref4","first-page":"1","article-title":"Terrain adaptation of hexapod robot via central pattern generator and policy gradient","volume-title":"Proc. 4th Conf. Robot Learning","author":"Kumar"},{"key":"ref5","article-title":"Proximal policy optimization algorithms","author":"Schulman","year":"2017","journal-title":"arXiv:1707.06347"},{"issue":"1","key":"ref6","first-page":"74","article-title":"Implementaci\u00f3n de CPG en robots de locomoci\u00f3n continua y discreta","volume":"10","author":"Rico","year":"2013","journal-title":"Revista V\u00ednculos"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543306"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2021.632804"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3015506"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids53995.2022.10000067"},{"key":"ref11","article-title":"Real-world humanoid locomotion with reinforcement learning","author":"Radosavovic","year":"2023","journal-title":"arXiv:2303.03381"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3192657"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-025-94408-0"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.23919\/FUSION59988.2024.10706406"},{"key":"ref15","article-title":"Robot skill learning in latent space of a deep autoencoder neural network","volume":"135","author":"Lon\u010darevi\u0107","year":"2021","journal-title":"Robot. Auto. Syst."},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3297015"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2022.03.037"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2024.1338189"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adi8022"},{"key":"ref20","first-page":"435","article-title":"Gait balance of biped robot based on reinforcement learning","volume-title":"Proc. SICE Annu. Conf.","author":"Hwang"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adi9579"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981091"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812166"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2023.3344393"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1155\/2015\/793208"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.3390\/app14051803"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3388842"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TCDS.2023.3250393"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abk2822"},{"key":"ref30","first-page":"1","article-title":"Visual-locomotion: Learning to walk on complex terrains with vision","volume-title":"Proc. 5th Annu. Conf. Robot Learn.","author":"Yu"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611621"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.05.012"},{"key":"ref33","first-page":"623","article-title":"Reinforcement learning for CPG-driven biped robot","volume-title":"Proc. AAAI","volume":"4","author":"Mori"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399416"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-03413-3_39"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/DEVLRN.2019.8850683"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1186\/s13012-024-01389-1"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.3390\/s23073457"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-13-9042-5_56"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2022.3152247"},{"key":"ref41","article-title":"Autocodificadores variacionales (VAE) fundamentos Te\u00f3ricos y aplicaciones","author":"de la Torre","year":"2023","journal-title":"arXiv:2302.09363"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1115\/OMAE2024-128130"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.02165"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1162\/artl.2007.13.3.313"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1145\/1553374.1553380"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/6287639\/10820123\/11145013.pdf?arnumber=11145013","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T17:32:32Z","timestamp":1758130352000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11145013\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":45,"URL":"https:\/\/doi.org\/10.1109\/access.2025.3604236","relation":{},"ISSN":["2169-3536"],"issn-type":[{"type":"electronic","value":"2169-3536"}],"subject":[],"published":{"date-parts":[[2025]]}}}