{"id":"https://openalex.org/W2762555062","doi":"https://doi.org/10.1109/humanoids.2017.8246930","title":"Real-time motion planning of legged robots: A model predictive control approach","display_name":"Real-time motion planning of legged robots: A model predictive control approach","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2762555062","doi":"https://doi.org/10.1109/humanoids.2017.8246930","mag":"2762555062"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2017.8246930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1710.04029","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Farbod Farshidian","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Farbod Farshidian","raw_affiliation_strings":["Agile & Dexterous Robotics Lab, ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Agile & Dexterous Robotics Lab, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Edo Jelavic","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Edo Jelavic","raw_affiliation_strings":["Agile & Dexterous Robotics Lab, ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Agile & Dexterous Robotics Lab, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Asutosh Satapathy","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Asutosh Satapathy","raw_affiliation_strings":["Agile & Dexterous Robotics Lab, ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Agile & Dexterous Robotics Lab, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Markus Giftthaler","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Markus Giftthaler","raw_affiliation_strings":["Agile & Dexterous Robotics Lab, ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Agile & Dexterous Robotics Lab, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jonas Buchli","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jonas Buchli","raw_affiliation_strings":["Agile & Dexterous Robotics Lab, ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Agile & Dexterous Robotics Lab, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":2.7462,"has_fulltext":false,"cited_by_count":112,"citation_normalized_percentile":{"value":0.90374377,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"577","last_page":"584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"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":0.9988999962806702,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9848999977111816,"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/T11663","display_name":"Viral Infectious Diseases and Gene Expression in Insects","score":0.9846000075340271,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7421000003814697},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.666700005531311},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.631600022315979},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5809000134468079},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.49900001287460327},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.45809999108314514},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4577000141143799},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4336000084877014}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7421000003814697},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.666700005531311},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.631600022315979},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5809000134468079},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5641000270843506},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.49900001287460327},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.45809999108314514},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4577000141143799},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4336000084877014},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4228000044822693},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39959999918937683},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3813999891281128},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37630000710487366},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.35350000858306885},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.35350000858306885},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.35269999504089355},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.3294000029563904},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3264999985694885},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3228999972343445},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C8171440","wikidata":"https://www.wikidata.org/wiki/Q903414","display_name":"Steady state (chemistry)","level":2,"score":0.2906000018119812},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.2761000096797943}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2017.8246930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1710.04029","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1710.04029","pdf_url":"https://arxiv.org/pdf/1710.04029","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1710.04029","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1710.04029","pdf_url":"https://arxiv.org/pdf/1710.04029","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1964946446","https://openalex.org/W1994275787","https://openalex.org/W2016211524","https://openalex.org/W2041109651","https://openalex.org/W2049670620","https://openalex.org/W2061983716","https://openalex.org/W2072241589","https://openalex.org/W2111904757","https://openalex.org/W2121523122","https://openalex.org/W2163781471","https://openalex.org/W2167856595","https://openalex.org/W2198582666","https://openalex.org/W2333533581","https://openalex.org/W2529220408","https://openalex.org/W2539977475","https://openalex.org/W2563439850","https://openalex.org/W2568459965","https://openalex.org/W2952026684","https://openalex.org/W6722878574","https://openalex.org/W6726263815","https://openalex.org/W6822935082"],"related_works":[],"abstract_inverted_index":{"We":[0,28],"introduce":[1],"a":[2,20,37,55,92,117],"real-time,":[3],"constrained,":[4],"nonlinear":[5],"Model":[6],"Predictive":[7],"Control":[8],"for":[9,40,82,120],"the":[10,30,83,88,97,100,112],"motion":[11,89],"planning":[12],"of":[13,32,87,99,107,111],"legged":[14],"robots.":[15],"The":[16,109],"proposed":[17],"approach":[18,113],"uses":[19],"constrained":[21],"optimal":[22],"control":[23],"algorithm":[24,34,61,77],"known":[25],"as":[26,54,125],"SLQ.":[27],"improve":[29],"efficiency":[31],"this":[33],"by":[35,102],"introducing":[36],"multi-processing":[38],"scheme":[39],"estimating":[41],"value":[42],"function":[43],"in":[44,70],"its":[45,71],"backward":[46],"pass.":[47],"This":[48,58,95],"pass":[49],"has":[50],"been":[51],"often":[52],"calculated":[53],"single":[56],"process.":[57],"parallel":[59],"SLQ":[60],"can":[62,78],"optimize":[63],"longer":[64],"time":[65],"horizons":[66],"without":[67],"proportional":[68],"increase":[69],"computation":[72],"time.":[73],"Thus,":[74],"our":[75],"MPC":[76],"generate":[79],"optimized":[80],"trajectories":[81],"next":[84],"few":[85,93],"phases":[86],"within":[90],"only":[91],"milliseconds.":[94],"outperforms":[96],"state":[98],"art":[101],"at":[103],"least":[104],"one":[105],"order":[106],"magnitude.":[108],"performance":[110],"is":[114],"validated":[115],"on":[116],"quadruped":[118],"robot":[119],"generating":[121],"dynamic":[122],"gaits":[123],"such":[124],"trotting.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":26},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":11},{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2017-10-20T00:00:00"}