{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,17]],"date-time":"2026-06-17T16:27:43Z","timestamp":1781713663126,"version":"3.54.5"},"reference-count":39,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2019,6,10]],"date-time":"2019-06-10T00:00:00Z","timestamp":1560124800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100011021","name":"national centre of competence in research robotics","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100011021","id-type":"DOI","asserted-by":"publisher"}]},{"name":"gkf Gesellschaft f\u00fcr kynologische Forschung"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Adaptive Behavior"],"published-print":{"date-parts":[[2020,6]]},"abstract":"<jats:p>Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biology to build low-cost robots, able to achieve a certain level of versatility. Serval, a compliant quadruped robot with actuated spine and high range of motion in all joints, was developed to address the question of what mechatronic complexity is needed to achieve rich motion skills. In our experiments, the robot presented a high level of versatility (number of skills) at medium speed, with a minimal control effort and, in this article, no usage of its spine. Implementing a basic kinematics-duplication from dogs, we found strengths to emphasize, weaknesses to correct, and made Serval ready for future attempts to achieve more agile locomotion. In particular, we investigated the following skills: walk, trot, gallop, bound (crouched), sidestep, turn with a radius, ascend slopes including flat ground transition, perform single and double step-downs, fall, trot over bumpy terrain, lie\/sit down, and stand up.<\/jats:p>","DOI":"10.1177\/1059712319853227","type":"journal-article","created":{"date-parts":[[2019,6,10]],"date-time":"2019-06-10T04:29:00Z","timestamp":1560140940000},"page":"129-150","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":18,"title":["Towards rich motion skills with the lightweight quadruped robot Serval"],"prefix":"10.1177","volume":"28","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3569-8528","authenticated-orcid":false,"given":"Peter","family":"Eckert","sequence":"first","affiliation":[{"name":"Biorobotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Anja EM","family":"Schmerbauch","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"},{"name":"Fachgebiet Biomechatronik, Technische Universit\u00e4t Ilmenau, Ilmenau, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tomislav","family":"Horvat","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Katja","family":"S\u00f6hnel","sequence":"additional","affiliation":[{"name":"Institut f\u00fcr Zoologie und Evolutionsforschung, Friedrich-Schiller-Universit\u00e4t Jena, Jena, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Martin S","family":"Fischer","sequence":"additional","affiliation":[{"name":"Institut f\u00fcr Zoologie und Evolutionsforschung, Friedrich-Schiller-Universit\u00e4t Jena, Jena, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hartmut","family":"Witte","sequence":"additional","affiliation":[{"name":"Fachgebiet Biomechatronik, Technische Universit\u00e4t Ilmenau, Ilmenau, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Auke J","family":"Ijspeert","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2019,6,10]]},"reference":[{"key":"bibr1-1059712319853227","volume-title":"Pattern generation for rough terrain locomotion with quadrupedal robots","author":"Ajallooeian M.","year":"2015"},{"key":"bibr2-1059712319853227","doi-asserted-by":"publisher","DOI":"10.1038\/npg.els.0001867"},{"key":"bibr3-1059712319853227","unstructured":"Boston Dynamics. 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