{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T14:59:48Z","timestamp":1773413988172,"version":"3.50.1"},"reference-count":36,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"9","license":[{"start":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T00:00:00Z","timestamp":1756684800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T00:00:00Z","timestamp":1756684800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T00:00:00Z","timestamp":1756684800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Technology Innovation Program"},{"name":"Industrial Strategic Technology Development Program-Robot Industry Technology Development","award":["RS-2024-00427719"],"award-info":[{"award-number":["RS-2024-00427719"]}]},{"name":"Ministry of Trade Industry &amp; Energy"},{"DOI":"10.13039\/501100003662","name":"Korea Evaluation Institute of Industrial Technology","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003662","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Korea Government","award":["20018216"],"award-info":[{"award-number":["20018216"]}]},{"name":"Development of mobile intelligence SW for autonomous navigation of legged robots in dynamic and atypical environments for real application"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2025,9]]},"DOI":"10.1109\/lra.2025.3592067","type":"journal-article","created":{"date-parts":[[2025,7,23]],"date-time":"2025-07-23T18:45:01Z","timestamp":1753296301000},"page":"9072-9079","source":"Crossref","is-referenced-by-count":2,"title":["A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion"],"prefix":"10.1109","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3693-0712","authenticated-orcid":false,"given":"Min-Gyu","family":"Kim","sequence":"first","affiliation":[{"name":"Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-3922-4063","authenticated-orcid":false,"given":"Dongyun","family":"Kang","sequence":"additional","affiliation":[{"name":"Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-9430-7830","authenticated-orcid":false,"given":"Hajun","family":"Kim","sequence":"additional","affiliation":[{"name":"Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6130-6589","authenticated-orcid":false,"given":"Hae-Won","family":"Park","sequence":"additional","affiliation":[{"name":"Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/MEX.1986.4307016"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2006.321385"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594448"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3324580"},{"key":"ref5","article-title":"Highly dynamic quadruped locomotion via whole-body impulse control and model predictive control","author":"Kim","year":"2019"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341447"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3151396"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abk2822"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2023.xix.052"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610200"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2017.xiii.048"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2021.xvii.011"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2974685"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2023.xix.056"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3128697"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3108510"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3264758"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2926677"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2021.xvii.042"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3144787"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3246839"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-21090-7_31"},{"key":"ref23","first-page":"773","article-title":"Fast and efficient locomotion via learned gait transitions","volume-title":"Proc. 5th Conf. Robot Learn.","author":"Yang","year":"2022"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3141602"},{"key":"ref25","first-page":"770","article-title":"Continuous versatile jumping using learned action residuals","volume-title":"Proc. 5th Annu. Learn. Dyn. Control Conf.","author":"Yang","year":"2023"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3172469"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2988642"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2024.104799"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610453"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3307008"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3320827"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adh5401"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160562"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.806653"},{"key":"ref35","article-title":"Proximal policy optimization algorithms","author":"Schulman","year":"2017"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2792536"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/11082640\/11091478.pdf?arnumber=11091478","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,1]],"date-time":"2025-08-01T18:16:18Z","timestamp":1754072178000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11091478\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9]]},"references-count":36,"journal-issue":{"issue":"9"},"URL":"https:\/\/doi.org\/10.1109\/lra.2025.3592067","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9]]}}}