{"id":"https://openalex.org/W4394597818","doi":"https://doi.org/10.1109/crc60659.2023.10488551","title":"Real-Time Solvable Model Predictive Control with Adjustable Factors for Bipedal Robots","display_name":"Real-Time Solvable Model Predictive Control with Adjustable Factors for Bipedal Robots","publication_year":2024,"publication_date":"2024-04-09","ids":{"openalex":"https://openalex.org/W4394597818","doi":"https://doi.org/10.1109/crc60659.2023.10488551"},"language":"en","primary_location":{"id":"doi:10.1109/crc60659.2023.10488551","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/crc60659.2023.10488551","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 8th International Conference on Control, Robotics and Cybernetics (CRC)","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":null,"display_name":"Qionghua Xia","orcid":null},"institutions":[{"id":"https://openalex.org/I16351329","display_name":"China West Normal University","ror":"https://ror.org/04s99y476","country_code":"CN","type":"education","lineage":["https://openalex.org/I16351329"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qionghua Xia","raw_affiliation_strings":["China West Normal University,School of Electronic & Information Engineering,Nanchong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China West Normal University,School of Electronic & Information Engineering,Nanchong,China","institution_ids":["https://openalex.org/I16351329"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056685234","display_name":"Zitian Zheng","orcid":"https://orcid.org/0000-0001-8908-7808"},"institutions":[{"id":"https://openalex.org/I16351329","display_name":"China West Normal University","ror":"https://ror.org/04s99y476","country_code":"CN","type":"education","lineage":["https://openalex.org/I16351329"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zitian Zheng","raw_affiliation_strings":["China West Normal University,School of Electronic & Information Engineering,Nanchong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China West Normal University,School of Electronic & Information Engineering,Nanchong,China","institution_ids":["https://openalex.org/I16351329"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005457528","display_name":"Zhengyong Feng","orcid":"https://orcid.org/0000-0003-0235-4411"},"institutions":[{"id":"https://openalex.org/I16351329","display_name":"China West Normal University","ror":"https://ror.org/04s99y476","country_code":"CN","type":"education","lineage":["https://openalex.org/I16351329"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengyong Feng","raw_affiliation_strings":["China West Normal University,School of Electronic & Information Engineering,Nanchong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China West Normal University,School of Electronic & Information Engineering,Nanchong,China","institution_ids":["https://openalex.org/I16351329"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087295807","display_name":"Huaibing Qi","orcid":null},"institutions":[{"id":"https://openalex.org/I16351329","display_name":"China West Normal University","ror":"https://ror.org/04s99y476","country_code":"CN","type":"education","lineage":["https://openalex.org/I16351329"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaibing Qi","raw_affiliation_strings":["China West Normal University,School of Electronic & Information Engineering,Nanchong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China West Normal University,School of Electronic & Information Engineering,Nanchong,China","institution_ids":["https://openalex.org/I16351329"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16351329"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04993511,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"47","last_page":"52"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994999766349792,"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":0.9994999766349792,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9879000186920166,"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":0.982699990272522,"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":0.7212510704994202},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6854701638221741},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6070795655250549},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5639610290527344},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.520675778388977},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.5082966685295105},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4043048620223999},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27259373664855957},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18068787455558777},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09467333555221558}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7212510704994202},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6854701638221741},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6070795655250549},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5639610290527344},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.520675778388977},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.5082966685295105},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4043048620223999},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27259373664855957},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18068787455558777},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09467333555221558},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/crc60659.2023.10488551","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/crc60659.2023.10488551","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 8th International Conference on Control, Robotics and Cybernetics (CRC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.5299999713897705},{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W566530810","https://openalex.org/W1504362584","https://openalex.org/W1509235676","https://openalex.org/W1562460111","https://openalex.org/W1973165290","https://openalex.org/W1994275787","https://openalex.org/W2109656638","https://openalex.org/W2144857129","https://openalex.org/W2155658243","https://openalex.org/W2161427949","https://openalex.org/W2230625637","https://openalex.org/W2771123153","https://openalex.org/W2954730031","https://openalex.org/W3012148556","https://openalex.org/W3181788861","https://openalex.org/W3211799202","https://openalex.org/W4285226055","https://openalex.org/W4292402580"],"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/W2952578757","https://openalex.org/W2556120871"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,22,43,88],"introduce":[4],"a":[5,18,28,45,59,65,78,107],"novel":[6],"Model":[7],"Predictive":[8],"Control":[9],"(MPC)":[10],"formulation":[11],"applied":[12],"to":[13,48,68,82],"the":[14,24,38,50,90,93],"motion":[15],"dynamics":[16,26],"of":[17,40,92,116],"bipedal":[19],"robot,":[20],"where":[21],"represent":[23],"system":[25],"using":[27],"single":[29],"rigid":[30],"body":[31],"model":[32],"in":[33],"3D":[34],"space.":[35],"To":[36],"address":[37],"presence":[39],"nonlinear":[41],"factors,":[42],"employ":[44],"variation-based":[46],"method":[47],"linearize":[49],"rotation":[51],"matrix":[52],"and":[53,57,103,110],"angular":[54],"velocity":[55],"vector":[56],"formulate":[58],"new":[60],"terminal":[61],"cost":[62],"function":[63],"with":[64],"self-adjusting":[66],"factor":[67],"reduce":[69],"computing":[70],"consumption.":[71],"The":[72],"controller":[73],"is":[74,112],"ultimately":[75],"transformed":[76],"into":[77],"Quadratic":[79],"Program":[80],"(QP)":[81],"enable":[83],"real-time":[84],"online":[85],"solutions.":[86],"Finally,":[87],"validate":[89],"feasibility":[91],"control":[94],"strategy":[95],"through":[96],"walking":[97],"gait":[98],"tests":[99,105],"on":[100,106],"level":[101],"ground":[102],"hill-climbing":[104],"30-degree":[108],"slope,":[109],"it":[111],"successful":[113],"for":[114],"both":[115],"them.":[117]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}