{"id":"https://openalex.org/W4407950212","doi":"https://doi.org/10.1109/cdc56724.2024.10886064","title":"Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers","display_name":"Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers","publication_year":2024,"publication_date":"2024-12-16","ids":{"openalex":"https://openalex.org/W4407950212","doi":"https://doi.org/10.1109/cdc56724.2024.10886064"},"language":"en","primary_location":{"id":"doi:10.1109/cdc56724.2024.10886064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc56724.2024.10886064","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 63rd Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080531954","display_name":"Seung Hyeon Bang","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Seung Hyeon Bang","raw_affiliation_strings":["The University of Texas at Austin,Department of Aerospace Engineering and Engineering Mechanics,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Aerospace Engineering and Engineering Mechanics,TX,USA,78712","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100329301","display_name":"Jaemin Lee","orcid":"https://orcid.org/0000-0003-3843-996X"},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaemin Lee","raw_affiliation_strings":["North Carolina State University,Department of Mechanical and Aerospace Engineering,NC,USA,27606"],"affiliations":[{"raw_affiliation_string":"North Carolina State University,Department of Mechanical and Aerospace Engineering,NC,USA,27606","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100711263","display_name":"Carlos Gonz\u00e1lez","orcid":"https://orcid.org/0000-0002-6709-4369"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlos Gonzalez","raw_affiliation_strings":["The University of Texas at Austin,Department of Aerospace Engineering and Engineering Mechanics,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Aerospace Engineering and Engineering Mechanics,TX,USA,78712","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["The University of Texas at Austin,Department of Aerospace Engineering and Engineering Mechanics,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Aerospace Engineering and Engineering Mechanics,TX,USA,78712","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5080531954"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.6975,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.7377404,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4334","last_page":"4341"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9940999746322632,"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":0.9940999746322632,"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/T11236","display_name":"Control Systems and Identification","score":0.9891999959945679,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/model-predictive-control","display_name":"Model predictive control","score":0.6953885555267334},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6225765347480774},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.613048791885376},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5011012554168701},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.4755285084247589},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4638744592666626},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3574354648590088},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20686963200569153},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16983866691589355},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08779358863830566},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07915836572647095},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.05360099673271179}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6953885555267334},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6225765347480774},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.613048791885376},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5011012554168701},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.4755285084247589},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4638744592666626},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3574354648590088},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20686963200569153},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16983866691589355},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08779358863830566},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07915836572647095},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.05360099673271179},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc56724.2024.10886064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc56724.2024.10886064","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 63rd Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2123871098","https://openalex.org/W2139612757","https://openalex.org/W2143729862","https://openalex.org/W2162109810","https://openalex.org/W2399015533","https://openalex.org/W2771123153","https://openalex.org/W2842089854","https://openalex.org/W2889693550","https://openalex.org/W2909331752","https://openalex.org/W2914653242","https://openalex.org/W3089564096","https://openalex.org/W3155272911","https://openalex.org/W3193914824","https://openalex.org/W3206338439","https://openalex.org/W4206324146","https://openalex.org/W4221155215","https://openalex.org/W4225774941","https://openalex.org/W4285028015","https://openalex.org/W4289522461","https://openalex.org/W4313549808","https://openalex.org/W4387670212","https://openalex.org/W4389665776","https://openalex.org/W4389666311","https://openalex.org/W4390481283","https://openalex.org/W4402262830","https://openalex.org/W6631215776","https://openalex.org/W6767349745","https://openalex.org/W6801704785","https://openalex.org/W6809758186","https://openalex.org/W6854382922"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W2042776672","https://openalex.org/W4253098096","https://openalex.org/W1973997235","https://openalex.org/W2130288220","https://openalex.org/W2038236753","https://openalex.org/W2556120871"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,49,66,82],"novel":[4],"control":[5],"framework":[6,148],"for":[7,57,73],"agile":[8],"and":[9,18,32,41],"robust":[10],"bipedal":[11,157],"locomotion,":[12],"addressing":[13],"model":[14],"discrepancies":[15],"between":[16],"full-body":[17,156],"reduced-order":[19],"models.":[20],"Specifically,":[21],"assumptions":[22],"such":[23],"as":[24],"constant":[25],"centroidal":[26,60,83,91],"inertia":[27,61,84,92],"have":[28],"introduced":[29],"significant":[30],"challenges":[31],"limitations":[33],"in":[34,107],"locomotion":[35,127],"tasks.":[36],"To":[37],"enhance":[38],"the":[39,58,77,89,94,100,113,126,140],"agility":[40],"versatility":[42],"of":[43,62,145],"fullbody":[44],"humanoid":[45,63,158],"robots,":[46],"we":[47,80,123],"formalize":[48],"Model":[50],"Predictive":[51],"Control":[52],"(MPC)":[53],"problem":[54],"that":[55,135],"accounts":[56],"variable":[59,90],"robots":[64],"within":[65],"convex":[67],"optimization":[68],"framework,":[69],"ensuring":[70],"computational":[71],"efficiency":[72],"real-time":[74],"operations.":[75],"In":[76],"proposed":[78,147],"formulation,":[79],"incorporate":[81],"network":[85],"designed":[86],"to":[87],"predict":[88],"over":[93],"MPC":[95,109],"horizon,":[96],"taking":[97],"into":[98],"account":[99],"swing":[101],"foot":[102],"trajectories-an":[103],"aspect":[104],"often":[105],"overlooked":[106],"ROM-based":[108],"frameworks.":[110],"By":[111],"integrating":[112],"MPC-based":[114],"contact":[115],"wrench":[116],"planning":[117],"with":[118,139],"our":[119,146,155],"low-level":[120],"whole-body":[121],"controller,":[122],"significantly":[124],"improve":[125],"performance,":[128],"achieving":[129],"stable":[130],"walking":[131],"at":[132],"higher":[133],"velocities":[134],"are":[136],"not":[137],"attainable":[138],"baseline":[141],"method.":[142],"The":[143],"effectiveness":[144],"is":[149],"validated":[150],"through":[151],"high-fidelity":[152],"simulations":[153],"using":[154],"robot,":[159],"DRACO":[160],"3":[161],"[1],":[162],"demonstrating":[163],"dynamic":[164],"behaviors.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
