{"id":"https://openalex.org/W7124155937","doi":"https://doi.org/10.1109/codit66093.2025.11321498","title":"Model Predictive Control for Quadrupedal Robots with Neural-based Adaptation","display_name":"Model Predictive Control for Quadrupedal Robots with Neural-based Adaptation","publication_year":2025,"publication_date":"2025-07-15","ids":{"openalex":"https://openalex.org/W7124155937","doi":"https://doi.org/10.1109/codit66093.2025.11321498"},"language":null,"primary_location":{"id":"doi:10.1109/codit66093.2025.11321498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit66093.2025.11321498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 11th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5020870064","display_name":"Dmitry Bazylev","orcid":"https://orcid.org/0000-0003-4416-5731"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dmitry Bazylev","raw_affiliation_strings":["ITMO University,Faculty of Control Systems and Robotics,Saint Petersburg,Russia,197101"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ITMO University,Faculty of Control Systems and Robotics,Saint Petersburg,Russia,197101","institution_ids":["https://openalex.org/I173089394"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123000087","display_name":"Maxim Lyahovski","orcid":null},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Maxim Lyahovski","raw_affiliation_strings":["ITMO University,Faculty of Control Systems and Robotics,Saint Petersburg,Russia,197101"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ITMO University,Faculty of Control Systems and Robotics,Saint Petersburg,Russia,197101","institution_ids":["https://openalex.org/I173089394"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051035411","display_name":"Dmitrii Dobriborsci","orcid":"https://orcid.org/0000-0002-1091-7459"},"institutions":[{"id":"https://openalex.org/I83041830","display_name":"Deggendorf Institute of Technology","ror":"https://ror.org/02kw5st29","country_code":"DE","type":"education","lineage":["https://openalex.org/I83041830"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dmitrii Dobriborsci","raw_affiliation_strings":["Deggendorf Institute of Technology,Technology Campus,Cham,93413"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Deggendorf Institute of Technology,Technology Campus,Cham,93413","institution_ids":["https://openalex.org/I83041830"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.69112864,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2958","last_page":"2963"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.4316999912261963,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.4316999912261963,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.14259999990463257,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.12470000237226486,"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/model-predictive-control","display_name":"Model predictive control","score":0.785099983215332},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7257000207901001},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.671999990940094},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5877000093460083},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4465000033378601},{"id":"https://openalex.org/keywords/impulse","display_name":"Impulse (physics)","score":0.4129999876022339},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.3831000030040741}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.785099983215332},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7257000207901001},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.671999990940094},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5877000093460083},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49399998784065247},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47290000319480896},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4465000033378601},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4339999854564667},{"id":"https://openalex.org/C70836080","wikidata":"https://www.wikidata.org/wiki/Q837940","display_name":"Impulse (physics)","level":2,"score":0.4129999876022339},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.3831000030040741},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3564000129699707},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.2890999913215637},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2865999937057495},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28600001335144043},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2856999933719635},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.26899999380111694},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.2603999972343445},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit66093.2025.11321498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit66093.2025.11321498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 11th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320327494","display_name":"Ministry of Science and Higher Education of the Russian Federation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2161427949","https://openalex.org/W2771123153","https://openalex.org/W2909331752","https://openalex.org/W2911087563","https://openalex.org/W3012148556","https://openalex.org/W3030526828","https://openalex.org/W3090207068","https://openalex.org/W3183566983","https://openalex.org/W4250058668","https://openalex.org/W4312574175","https://openalex.org/W4321380998"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,29,46,64,71,95],"problem":[4],"of":[5,8,18,55,66,83,94],"a":[6,22,36,53,56,105],"synthesis":[7],"model":[9,27,89],"predictive":[10,30,90],"control":[11,31,50,69],"for":[12,70,80,110],"quadrupedal":[13],"robots":[14],"with":[15,63],"adaptive":[16],"change":[17],"weight":[19,84],"matrices":[20],"using":[21,100],"neural":[23,76],"network.":[24],"The":[25,49,92],"robot":[26,112],"in":[28,45,87,108],"algorithm":[32],"is":[33,41,52,78,98],"considered":[34],"as":[35],"single":[37],"rigid":[38],"body,":[39],"which":[40,103],"affected":[42],"by":[43],"forces":[44],"contact":[47],"spots.":[48],"method":[51],"combination":[54],"swing":[57],"leg":[58],"and":[59],"ground":[60],"force":[61],"controllers":[62],"use":[65],"whole-body":[67],"impulse":[68],"latter.":[72],"A":[73],"fully":[74],"connected":[75],"network":[77],"applied":[79],"automatic":[81],"tuning":[82],"coefficients":[85],"used":[86],"convex":[88],"control.":[91],"effectiveness":[93],"proposed":[96],"approach":[97],"demonstrated":[99],"numerical":[101],"simulations,":[102],"provide":[104],"significant":[106],"reduction":[107],"errors":[109],"various":[111],"speeds.":[113]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-01-15T00:00:00"}
