{"id":"https://openalex.org/W2569909268","doi":"https://doi.org/10.1109/humanoids.2016.7803384","title":"A Newton method with always feasible iterates for Nonlinear Model Predictive Control of walking in a multi-contact situation","display_name":"A Newton method with always feasible iterates for Nonlinear Model Predictive Control of walking in a multi-contact situation","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2569909268","doi":"https://doi.org/10.1109/humanoids.2016.7803384","mag":"2569909268"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803384","doi":"https://doi.org/10.1109/humanoids.2016.7803384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803384","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"IEEE-RAS International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-01418402","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069455146","display_name":"Diana Serra","orcid":"https://orcid.org/0000-0002-2008-7858","observed_orcids":["https://orcid.org/0000-0002-2008-7858"]},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Diana Serra","raw_affiliation_strings":["DIETI, University of Naples Federico II, Naples, Italy","DIETI - Dipartimento di Ingegneria Elettrica e delle Tecnologie dell'Informazione [Napoli] (Corso Umberto I, 80138 Napoli - Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIETI, University of Naples Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]},{"raw_affiliation_string":"DIETI - Dipartimento di Ingegneria Elettrica e delle Tecnologie dell'Informazione [Napoli] (Corso Umberto I, 80138 Napoli - Italy)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027081983","display_name":"Camille Brasseur","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Camille Brasseur","raw_affiliation_strings":["INRIA Rh\u00f4ne-Alpes, Montbonnot Cedex, France","BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (Inria Grenoble - Rh\u00f4ne-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Rh\u00f4ne-Alpes, Montbonnot Cedex, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"raw_affiliation_string":"BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (Inria Grenoble - Rh\u00f4ne-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex - France)","institution_ids":["https://openalex.org/I4210101348"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026061745","display_name":"Alexander Sherikov","orcid":"https://orcid.org/0000-0002-3598-5896","observed_orcids":["https://orcid.org/0000-0002-3598-5896"]},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alexander Sherikov","raw_affiliation_strings":["INRIA Rh\u00f4ne-Alpes, Montbonnot Cedex, France","BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (Inria Grenoble - Rh\u00f4ne-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Rh\u00f4ne-Alpes, Montbonnot Cedex, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"raw_affiliation_string":"BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (Inria Grenoble - Rh\u00f4ne-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex - France)","institution_ids":["https://openalex.org/I4210101348"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011216855","display_name":"Dimitar Dimitrov","orcid":"https://orcid.org/0000-0003-2181-2799","observed_orcids":["https://orcid.org/0000-0003-2181-2799"]},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Dimitar Dimitrov","raw_affiliation_strings":["INRIA Rh\u00f4ne-Alpes, Montbonnot Cedex, France","BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (Inria Grenoble - Rh\u00f4ne-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Rh\u00f4ne-Alpes, Montbonnot Cedex, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"raw_affiliation_string":"BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (Inria Grenoble - Rh\u00f4ne-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex - France)","institution_ids":["https://openalex.org/I4210101348"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057770359","display_name":"Pierre-Brice Wieber","orcid":"https://orcid.org/0000-0002-5106-929X","observed_orcids":["https://orcid.org/0000-0002-5106-929X"]},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pierre-Brice Wieber","raw_affiliation_strings":["INRIA Rh\u00f4ne-Alpes, Montbonnot Cedex, France","BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (Inria Grenoble - Rh\u00f4ne-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Rh\u00f4ne-Alpes, Montbonnot Cedex, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"raw_affiliation_string":"BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (Inria Grenoble - Rh\u00f4ne-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex - France)","institution_ids":["https://openalex.org/I4210101348"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.9073,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.98661633,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"932","last_page":"937"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.5976999998092651,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.5976999998092651,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.3700999915599823,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.007699999958276749,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonlinear-model-predictive-control","display_name":"nonlinear model predictive control","score":0.9919999837875366},{"id":"https://openalex.org/keywords/walking","display_name":"walking","score":0.6159999966621399},{"id":"https://openalex.org/keywords/newton-s-method","display_name":"Newton's method","score":0.8539999723434448},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"stair climbing","score":0.6660000085830688},{"id":"https://openalex.org/keywords/hand-support","display_name":"hand support","score":0.9259999990463257},{"id":"https://openalex.org/keywords/computational-efficiency","display_name":"computational efficiency","score":0.5460000038146973},{"id":"https://openalex.org/keywords/legged-locomotion","display_name":"legged locomotion","score":0.5659999847412109}],"concepts":[{"id":"https://openalex.org/C140479938","wikidata":"https://www.wikidata.org/wiki/Q5254619","display_name":"Iterated function","level":2,"score":0.7818878889083862},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7307168245315552},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7090064883232117},{"id":"https://openalex.org/C85189116","wikidata":"https://www.wikidata.org/wiki/Q374195","display_name":"Newton's method","level":3,"score":0.6753764152526855},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.641472578048706},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6080134510993958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5790761709213257},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5553744435310364},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.5233727693557739},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5073460936546326},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4143778085708618},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3080407977104187},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28370463848114014},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2576712965965271},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11956566572189331},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2016.7803384","doi":"https://doi.org/10.1109/humanoids.2016.7803384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803384","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"IEEE-RAS International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01418402v1","doi":null,"is_oa":true,"landing_page_url":"https://inria.hal.science/hal-01418402","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4405252976","host_organization_name":"Centre pour la Communication Scientifique Directe","host_organization_lineage":["https://openalex.org/I4405252976"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE-RAS 2016 - International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.932-937, ⟨10.1109/HUMANOIDS.2016.7803384⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01418402v1","doi":null,"is_oa":true,"landing_page_url":"https://inria.hal.science/hal-01418402","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4405252976","host_organization_name":"Centre pour la Communication Scientifique Directe","host_organization_lineage":["https://openalex.org/I4405252976"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE-RAS 2016 - International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.932-937, ⟨10.1109/HUMANOIDS.2016.7803384⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1649984915","https://openalex.org/W1949183026","https://openalex.org/W1978956894","https://openalex.org/W2013439434","https://openalex.org/W2015149365","https://openalex.org/W2033480951","https://openalex.org/W2056223738","https://openalex.org/W2061350632","https://openalex.org/W2095143145","https://openalex.org/W2120693140","https://openalex.org/W2136914764","https://openalex.org/W2170163952","https://openalex.org/W2204604557","https://openalex.org/W2217484997","https://openalex.org/W2221880327","https://openalex.org/W2415458238","https://openalex.org/W2491934829","https://openalex.org/W2587742116","https://openalex.org/W2946514473","https://openalex.org/W3147253688","https://openalex.org/W6762503384"],"related_works":["https://openalex.org/W2782899291","https://openalex.org/W2354140375","https://openalex.org/W2907256680","https://openalex.org/W2771691050","https://openalex.org/W3198442109","https://openalex.org/W2117849668","https://openalex.org/W4416073808","https://openalex.org/W7160506945","https://openalex.org/W2477962321","https://openalex.org/W4285028015"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,36],"present":[4],"a":[5,32,42,50,53,63,75,88,103],"Nonlinear":[6],"Model":[7],"Predictive":[8],"Control":[9],"scheme,":[10],"which":[11,35,66],"is":[12,31,46,67],"able":[13],"to":[14,70,101],"generate":[15],"walking":[16],"motions":[17],"in":[18,38,87,91],"multi-contact":[19],"situations.":[20],"Walking":[21],"up":[22],"and":[23],"down":[24],"stairs":[25],"with":[26,49],"an":[27],"additional":[28],"hand":[29],"support":[30],"typical":[33],"example,":[34],"address":[37],"simulation.":[39],"Computing":[40],"such":[41],"nonlinear":[43],"control":[44],"scheme":[45],"usually":[47],"done":[48],"Newton":[51,64],"method,":[52],"potentially":[54],"time-consuming":[55],"procedure":[56],"involving":[57],"iterative":[58],"linearizations.":[59],"We":[60],"propose":[61],"here":[62],"method":[65],"specifically":[68],"designed":[69],"provide":[71],"at":[72],"each":[73],"iteration":[74],"feasible":[76,104],"solution,":[77],"always":[78],"satisfying":[79],"the":[80,96],"(nonlinear)":[81],"dynamic":[82],"balance":[83],"constraints.":[84],"This":[85],"results":[86],"significant":[89],"reduction":[90],"computation":[92],"time,":[93],"by":[94],"minimizing":[95],"number":[97],"of":[98],"necessary":[99],"iterations":[100],"reach":[102],"solution.":[105]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":7}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2017-01-13T00:00:00"}