{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,17]],"date-time":"2026-07-17T03:45:24Z","timestamp":1784259924831,"version":"3.55.0"},"reference-count":47,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2010,11,12]],"date-time":"2010-11-12T00:00:00Z","timestamp":1289520000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2011,2]]},"abstract":"<jats:p>We present a control architecture for fast quadruped locomotion over rough terrain. We approach the problem by decomposing it into many sub-systems, in which we apply state-of-the-art learning, planning, optimization, and control techniques to achieve robust, fast locomotion. Unique features of our control strategy include: (1) a system that learns optimal foothold choices from expert demonstration using terrain templates , (2) a body trajectory optimizer based on the Zero-Moment Point (ZMP) stability criterion, and (3) a floating-base inverse dynamics controller that, in conjunction with force control, allows for robust, compliant locomotion over unperceived obstacles. We evaluate the performance of our controller by testing it on the LittleDog quadruped robot, over a wide variety of rough terrains of varying difficulty levels. The terrain that the robot was tested on includes rocks, logs, steps, barriers, and gaps, with obstacle sizes up to the leg length of the robot. We demonstrate the generalization ability of this controller by presenting results from testing performed by an independent external test team on terrain that has never been shown to us.<\/jats:p>","DOI":"10.1177\/0278364910388677","type":"journal-article","created":{"date-parts":[[2010,11,13]],"date-time":"2010-11-13T00:29:04Z","timestamp":1289608144000},"page":"236-258","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":256,"title":["Learning, planning, and control for quadruped locomotion over challenging                 terrain"],"prefix":"10.1177","volume":"30","author":[{"given":"Mrinal","family":"Kalakrishnan","sequence":"first","affiliation":[{"name":"Computational Learning and Motor Control Lab, University of Southern                         California, Los Angeles, CA 90089, USA,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jonas","family":"Buchli","sequence":"additional","affiliation":[{"name":"Computational Learning and Motor Control Lab, University of Southern                         California, Los Angeles, CA 90089, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peter","family":"Pastor","sequence":"additional","affiliation":[{"name":"Computational Learning and Motor Control Lab, University of Southern                         California, Los Angeles, CA 90089, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michael","family":"Mistry","sequence":"additional","affiliation":[{"name":"Disney Research, Pittsburgh, PA 15213, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stefan","family":"Schaal","sequence":"additional","affiliation":[{"name":"Computational Learning and Motor Control Lab, University of Southern                         California, Los Angeles, CA 90089, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2010,11,12]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.851380"},{"key":"atypb2","volume-title":"Nonlinear Programming","author":"Bertsekas D.","year":"1999"},{"key":"atypb3","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Buchli J."},{"key":"atypb4","first-page":"319","year":"2009","journal-title":"Experimental Robotics"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904041323"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1613\/jair.587"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1007\/BF01386390"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008816424504"},{"key":"atypb9","volume-title":"Rigid Body Dynamics Algorithms","author":"Featherstone R.","year":"2007"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022003004"},{"key":"atypb11","first-page":"325","author":"Hirose S.","year":"1985","journal-title":"Robotics Research- The Second International Symposium"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/70.88138"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2008.03.014"},{"key":"atypb14","volume-title":"Proceedings of the 8th ACM SIGKDD International Conference on Knowledge Discovery and Data Mining","author":"Joachims T."},{"key":"atypb15","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kajita S."},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1013335"},{"key":"atypb17","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kalakrishnan M."},{"key":"atypb18","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Kalakrishnan M."},{"key":"atypb19","first-page":"1519","volume":"8","author":"Koh K.","year":"2007","journal-title":"Journal of Machine Learning Research. 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