{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,26]],"date-time":"2026-03-26T14:40:36Z","timestamp":1774536036902,"version":"3.50.1"},"reference-count":52,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2019,4,1]],"date-time":"2019-04-01T00:00:00Z","timestamp":1554076800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2019,4,1]],"date-time":"2019-04-01T00:00:00Z","timestamp":1554076800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,4,1]],"date-time":"2019-04-01T00:00:00Z","timestamp":1554076800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Ecole Polytechnique Federale de Lausanne"},{"DOI":"10.13039\/501100004963","name":"European Communitys Seventh Framework Programme","doi-asserted-by":"crossref","award":["FP7\/2007-2013-Challenge"],"award-info":[{"award-number":["FP7\/2007-2013-Challenge"]}],"id":[{"id":"10.13039\/501100004963","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001711","name":"Swiss National Science Foundation","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100001711","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100011021","name":"National Centre of Competence in Research Robotics","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100011021","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2019,4]]},"DOI":"10.1109\/tro.2018.2888977","type":"journal-article","created":{"date-parts":[[2019,1,11]],"date-time":"2019-01-11T20:03:16Z","timestamp":1547236996000},"page":"529-535","source":"Crossref","is-referenced-by-count":15,"title":["Benchmarking Agility For Multilegged Terrestrial Robots"],"prefix":"10.1109","volume":"35","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3569-8528","authenticated-orcid":false,"given":"Peter","family":"Eckert","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1417-9980","authenticated-orcid":false,"given":"Auke J.","family":"Ijspeert","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1007\/978-3-319-23778-7_1","article-title":"Towards a comparative measure of legged agility","volume":"109","author":"duperret","year":"2016","journal-title":"Experimental Robotics IX (Springer Tracts in Advanced Robotics)"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1117\/12.2016073"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1108\/01439910210425568"},{"key":"ref32","article-title":"Evolution of a performance metric for urban search and rescue robots (2003)","author":"jacoff","year":"2003"},{"key":"ref31","first-page":"3396","article-title":"Test arenas and performance metrics for urban search and rescue robots","volume":"3","author":"jacoff","year":"2014","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.380653"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2013.2248310"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1145\/1865909.1865949"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570749"},{"key":"ref34","first-page":"87","article-title":"Experiences in deploying test arenas for autonomous mobile robots","volume":"1","author":"jacoff","year":"2002","journal-title":"NIST Special Publication"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907476"},{"key":"ref27","doi-asserted-by":"crossref","first-page":"1094","DOI":"10.1126\/science.1146351","article-title":"Mobile robots: Motor challenges and materials solutions","volume":"318","author":"madden","year":"2007","journal-title":"Science"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300205"},{"key":"ref2","article-title":"Agility.","year":"0"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/S0736-5845(98)00017-9"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139825"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/S1672-6529(07)60032-8"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.jtbi.2009.08.019"},{"key":"ref24","doi-asserted-by":"crossref","first-page":"715","DOI":"10.1007\/978-3-642-19457-3_42","article-title":"Design and fabrication of the Harvard ambulatory micro-robot","author":"baisch","year":"2011","journal-title":"Robot Res (Springer Tracts in Advanced Robotics)"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067570"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2283537"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-007-9071-6"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/SSRR.2015.7443021"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2018.00067"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2015.1089"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2360493"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1177\/0959651811402275"},{"key":"ref40","doi-asserted-by":"crossref","DOI":"10.1126\/scirobotics.aag2048","article-title":"Robotic vertical jumping agility via series-elastic power modulation","volume":"1","author":"haldane","year":"2016","journal-title":"Robotics Science"},{"key":"ref12","first-page":"642","article-title":"Cheap rapid locomotion of a quadruped robot: Self-stabilization of bounding gait","volume":"8","author":"iida","year":"2004","journal-title":"Proc Int Conf Intell Auton Syst"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/.2005.1507417"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5649134"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631038"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139918"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631041"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139629"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1117\/12.851251"},{"key":"ref4","doi-asserted-by":"crossref","first-page":"320","DOI":"10.1007\/978-3-319-09435-9_28","article-title":"Benchmarking human-like posture and locomotion of humanoid robots: A preliminary scheme","author":"torricelli","year":"2014","journal-title":"Biomimetic and Biohybrid Systems (Lecture Notes in Computer Science)"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1080\/02640410500457109"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913489205"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2004.833220"},{"key":"ref8","first-page":"10\ufffd823","article-title":"BigDog, the rough-terrain quadruped robot","volume":"17","author":"raibert","year":"2008","journal-title":"IFAC Proc Volumes (IFAC-PapersOnline)"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904050917"},{"key":"ref49","doi-asserted-by":"crossref","first-page":"301","DOI":"10.1242\/jeb.138.1.301","article-title":"Speed, stride frequency and energy cost per stride: how do they change with body size and gait?","volume":"138","author":"heglund","year":"1988","journal-title":"J Exp Biol"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7758092"},{"key":"ref46","article-title":"Teach your dog to sidestep!","year":"0"},{"key":"ref45","article-title":"Dogdance.","year":"0"},{"key":"ref48","article-title":"Dog runs backwards on narrow path.","year":"0"},{"key":"ref47","article-title":"Dog-breeds.","year":"0"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.00947"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1016\/0966-6362(95)01057-2"},{"key":"ref44","article-title":"Judges’ Guide to Agility Equipment","author":"kennel club","year":"2014","journal-title":"Guidebook"},{"key":"ref43","article-title":"General Regulations for Agility","author":"shows","year":"0","journal-title":"RuleBook"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/8681206\/08610238.pdf?arnumber=8610238","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,7,13]],"date-time":"2022-07-13T20:43:21Z","timestamp":1657745001000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8610238\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,4]]},"references-count":52,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/tro.2018.2888977","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,4]]}}}