{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T15:27:00Z","timestamp":1774366020434,"version":"3.50.1"},"reference-count":44,"publisher":"IEEE","license":[{"start":{"date-parts":[[2024,5,13]],"date-time":"2024-05-13T00:00:00Z","timestamp":1715558400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,5,13]],"date-time":"2024-05-13T00:00:00Z","timestamp":1715558400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2024,5,13]]},"DOI":"10.1109\/icra57147.2024.10610057","type":"proceedings-article","created":{"date-parts":[[2024,8,8]],"date-time":"2024-08-08T17:51:05Z","timestamp":1723139465000},"page":"3464-3470","source":"Crossref","is-referenced-by-count":8,"title":["SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies"],"prefix":"10.1109","author":[{"given":"Alexander","family":"Spiridonov","sequence":"first","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Fabio","family":"Buehler","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Moriz","family":"Berclaz","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Valerio","family":"Schelbert","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Jorit","family":"Geurts","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Elena","family":"Krasnova","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Emma","family":"Steinke","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Jonas","family":"Toma","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Joschua","family":"Wuethrich","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Recep","family":"Polat","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Wim","family":"Zimmermann","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Philip","family":"Arm","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Nikita","family":"Rudin","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Hendrik","family":"Kolvenbach","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]},{"given":"Marco","family":"Hutter","sequence":"additional","affiliation":[{"name":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1038\/485549a"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.15869\/itobiad.615134"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.52526\/25792776-2021.68.2-464"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/AERO47225.2020.9172659"},{"key":"ref5","first-page":"10 399","article-title":"Scalability analysis of legged robots for space exploration","volume-title":"Unlocking imagination, fostering innovation and strengthening security: 68th International Astronautical Congress (IAC 2017)","volume":"16","author":"Kolvenbach"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s11214-016-0251-6"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1038\/s41550-019-0750-y"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989643"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811949"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2017.1378591"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341361"},{"key":"ref12","article-title":"Quadrupedal robots for planetary exploration","volume-title":"Ph.D. dissertation","author":"Kolvenbach","year":"2021"},{"key":"ref13","article-title":"Nebula: Quest for robotic autonomy in challenging environments; TEAM costar at the DARPA subterranean challenge","volume-title":"CoRR","author":"Agha","year":"2021"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794136"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.55417\/fr.2022030"},{"key":"ref16","article-title":"Efficient gait selection for quadrupedal robots on the moon and mars","volume-title":"14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2018)","author":"Kolvenbach"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967552"},{"key":"ref18","article-title":"Cat-like jumping and landing of legged robots in low-gravity using deep reinforcement learning","volume-title":"CoRR","author":"Rudin","year":"2021"},{"key":"ref19","article-title":"Cubesat - deployer standards"},{"key":"ref20","article-title":"Ec 45 flat 42.8 mm, brushless, 50 watt, with hall sensors"},{"key":"ref21","article-title":"Ecx torque 22 m 22 mm, brushless, with hall sensors"},{"issue":"2","key":"ref22","first-page":"54","article-title":"Face gears: Geometry and strength","volume":"1","author":"Kissling","year":"2007","journal-title":"Gear Technol"},{"key":"ref23","article-title":"Spot, boston dynamics"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2016.xii.008"},{"key":"ref25","article-title":"NASA - Materials Data Handbook - Aluminum Alloy 7075"},{"key":"ref26","article-title":"Battery management system (bms) 30a"},{"key":"ref27","article-title":"Stm32g431kb"},{"key":"ref28","article-title":"Epos4 compact 24\/5 ethercat 3-axes, digital positioning controller, 5 a per axis, 10 - 24 vdc"},{"key":"ref29","article-title":"Time-of-flight (tof) ranging sensor with advanced multi-zone and multi-object detection"},{"issue":"3.2","key":"ref30","first-page":"5","article-title":"Ros: an open-source robot operating system","volume-title":"ICRA workshop on open source software","volume":"3","author":"Quigley"},{"key":"ref31","first-page":"423","volume-title":"Nonholonomic Behavior in Free-floating Space Manipulators and its Utilization","author":"Papadopoulos","year":"1993"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1992.220183"},{"key":"ref33","first-page":"45","volume-title":"On the Dynamics of Space Manipulators Using the Virtual Manipulator, with Applications to Path Planning","author":"Vafa","year":"1993"},{"key":"ref34","article-title":"Proximal policy optimization algorithms","volume-title":"CoRR","author":"Schulman","year":"2017"},{"key":"ref35","article-title":"Learning to walk in minutes using massively parallel deep reinforcement learning","volume-title":"CoRR","author":"Rudin","year":"2021"},{"key":"ref36","doi-asserted-by":"crossref","DOI":"10.1109\/SSCI47803.2020.9308468","article-title":"Sim-to-real transfer in deep reinforcement learning for robotics: a survey","volume-title":"CoRR","author":"Zhao","year":"2020"},{"key":"ref37","article-title":"Isaac gym: High performance gpu-based physics simulation for robot learning","volume-title":"CoRR","author":"Makoviychuk","year":"2021"},{"key":"ref38","doi-asserted-by":"crossref","DOI":"10.1109\/IROS.2017.8202133","article-title":"Domain randomization for transferring deep neural networks from simulation to the real world","volume-title":"CoRR","author":"Tobin","year":"2017"},{"key":"ref39","article-title":"Development and evaluation of the active response gravity offload system as a lunar and martian eva simulation environment","volume-title":"2020 International Conference on Environmental Systems","author":"Bekdash"},{"key":"ref40","article-title":"Concept study of a small-scale dynamic legged robot for lunar exploration","volume-title":"IAC-23: IAF SPACE EXPLORATION SYMPOSIUM","author":"Trentini","year":"2023"},{"key":"ref41","doi-asserted-by":"crossref","DOI":"10.1109\/LRA.2021.3058918","article-title":"Range-visual-inertial odometry: Scale observability without excitation","volume-title":"CoRR","author":"Delaune","year":"2021"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.2514\/6.2018-0023"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981198"},{"key":"ref44","article-title":"A review of safe reinforcement learning: Methods, theory and application","author":"Gu","year":"2023"}],"event":{"name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","location":"Yokohama, Japan","start":{"date-parts":[[2024,5,13]]},"end":{"date-parts":[[2024,5,17]]}},"container-title":["2024 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/10609961\/10609862\/10610057.pdf?arnumber=10610057","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,10]],"date-time":"2024-08-10T05:43:41Z","timestamp":1723268621000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10610057\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,5,13]]},"references-count":44,"URL":"https:\/\/doi.org\/10.1109\/icra57147.2024.10610057","relation":{},"subject":[],"published":{"date-parts":[[2024,5,13]]}}}