{"id":"https://openalex.org/W3177554885","doi":"https://doi.org/10.1109/humanoids47582.2021.9555780","title":"Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion","display_name":"Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion","publication_year":2021,"publication_date":"2021-07-19","ids":{"openalex":"https://openalex.org/W3177554885","doi":"https://doi.org/10.1109/humanoids47582.2021.9555780","mag":"3177554885"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids47582.2021.9555780","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555780","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2107.07507","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025015594","display_name":"Italo Belli","orcid":"https://orcid.org/0000-0002-8064-2251"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"I. Belli","raw_affiliation_strings":["Informazione e Bioingegneria (DEIB), Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"Informazione e Bioingegneria (DEIB), Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017839261","display_name":"Matteo Parigi Polverini","orcid":"https://orcid.org/0000-0002-4740-7006"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Parigi Polverini","raw_affiliation_strings":["Humanoids & Human Centered Mechatronics Research Line (HHCM), Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Humanoids & Human Centered Mechatronics Research Line (HHCM), Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016982993","display_name":"Arturo Laurenzi","orcid":"https://orcid.org/0000-0002-9065-1266"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Laurenzi","raw_affiliation_strings":["Humanoids & Human Centered Mechatronics Research Line (HHCM), Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Humanoids & Human Centered Mechatronics Research Line (HHCM), Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046447340","display_name":"Enrico Mingo Hoffman","orcid":"https://orcid.org/0000-0003-2063-7490"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"E. Mingo Hoffman","raw_affiliation_strings":["Humanoids & Human Centered Mechatronics Research Line (HHCM), Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Humanoids & Human Centered Mechatronics Research Line (HHCM), Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065821384","display_name":"Paolo Rocco","orcid":"https://orcid.org/0000-0001-6716-434X"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"P. Rocco","raw_affiliation_strings":["Informazione e Bioingegneria (DEIB), Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"Informazione e Bioingegneria (DEIB), Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"N. G. Tsagarakis","raw_affiliation_strings":["Humanoids & Human Centered Mechatronics Research Line (HHCM), Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Humanoids & Human Centered Mechatronics Research Line (HHCM), Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5025015594"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06925848,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"41","last_page":"46"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9975000023841858,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.8020026683807373},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5885401964187622},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5534619092941284},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.529333233833313},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.49907946586608887},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.4976830780506134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4847550094127655},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4797047972679138},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.44357171654701233},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.399577796459198},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39907315373420715},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33589738607406616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2025916874408722},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1527738869190216},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14165213704109192},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.08685290813446045},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07517942786216736}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8020026683807373},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5885401964187622},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5534619092941284},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.529333233833313},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.49907946586608887},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.4976830780506134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4847550094127655},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4797047972679138},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.44357171654701233},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.399577796459198},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39907315373420715},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33589738607406616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2025916874408722},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1527738869190216},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14165213704109192},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.08685290813446045},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07517942786216736},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/humanoids47582.2021.9555780","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555780","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2107.07507","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.07507","pdf_url":"https://arxiv.org/pdf/2107.07507","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":"","raw_type":"text"},{"id":"mag:3177554885","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2107.07507.pdf","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:re.public.polimi.it:11311/1203174","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1203174","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"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":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.48550/arxiv.2107.07507","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2107.07507","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2107.07507","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.07507","pdf_url":"https://arxiv.org/pdf/2107.07507","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":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W181528823","https://openalex.org/W1951089663","https://openalex.org/W1998480117","https://openalex.org/W2005805981","https://openalex.org/W2072994709","https://openalex.org/W2092132557","https://openalex.org/W2123871098","https://openalex.org/W2143729862","https://openalex.org/W2154139861","https://openalex.org/W2169673025","https://openalex.org/W2529695652","https://openalex.org/W2612636433","https://openalex.org/W2739146943","https://openalex.org/W2782864198","https://openalex.org/W2788030459","https://openalex.org/W2842089854","https://openalex.org/W2912365230","https://openalex.org/W2951633861","https://openalex.org/W2952867577","https://openalex.org/W2968694796","https://openalex.org/W2997316115","https://openalex.org/W3003397085","https://openalex.org/W3011896035","https://openalex.org/W3093326211","https://openalex.org/W3101817006","https://openalex.org/W4250058668","https://openalex.org/W6784692215"],"related_works":["https://openalex.org/W3207439283","https://openalex.org/W2029311298","https://openalex.org/W2103427474","https://openalex.org/W2910885839","https://openalex.org/W3003397085","https://openalex.org/W1975764910","https://openalex.org/W3011896035","https://openalex.org/W3101817006","https://openalex.org/W2167539628","https://openalex.org/W1969016909","https://openalex.org/W2112197412","https://openalex.org/W2105219792","https://openalex.org/W2151981591","https://openalex.org/W3080852575","https://openalex.org/W1598373131","https://openalex.org/W2991426184","https://openalex.org/W934412421","https://openalex.org/W2031352735","https://openalex.org/W2891666325","https://openalex.org/W2064736763"],"abstract_inverted_index":{"Hybrid":[0,33],"wheeled-legged":[1],"locomotion":[2,65,115],"is":[3,35,127],"a":[4,40,97,106],"navigation":[5],"paradigm":[6],"only":[7],"recently":[8],"opened":[9],"up":[10],"by":[11,173],"novel":[12],"robotic":[13],"designs,e.g.":[14],"the":[15,21,61,67,75,88,94,99,113,119,122,125,132,135,141,148,164,170,174,177],"centaur-type":[16],"humanoid":[17],"CENTAURO":[18],"[1]":[19],"or":[20],"quadruped":[22],"ANYmal":[23],"[2]":[24],"in":[25,71,118],"its":[26],"configuration":[27],"featuring":[28],"non-steerable":[29],"wheels.":[30,178],"The":[31],"term":[32],"Locomotion":[34],"hereafter":[36],"used":[37],"to":[38,73,83,160],"indicate":[39],"particular":[41],"type":[42],"of":[43,51,101,124,131,176],"locomotion,":[44],"achieved":[45],"with":[46,112,134,156],"simultaneous":[47],"and":[48,53,66,81,91,150],"coordinate":[49],"use":[50],"legs":[52],"wheels,see":[54],"Fig.":[55],"1.":[56],"Such":[57],"choice":[58],"stems":[59],"at":[60],"intersection":[62],"between":[63],"legged":[64,114],"simpler":[68],"wheeled":[69,142],"navigation,":[70],"order":[72],"get":[74],"best":[76],"from":[77,87,93],"both":[78],"techniques:":[79],"agility":[80],"ability":[82],"traverse":[84],"uneven":[85],"terrains":[86],"first,":[89],"speed":[90],"stability":[92],"second.":[95],"As":[96],"consequence,":[98],"problem":[100],"planning":[102],"feasible":[103],"trajectories":[104],"for":[105],"hybrid":[107,120],"robot":[108],"shares":[109],"many":[110],"similarities":[111],"problem:":[116],"also":[117],"case":[121],"motion":[123],"base":[126],"reached":[128],"through":[129],"contact":[130],"feet":[133,143],"environment,":[136],"taking":[137],"into":[138],"account":[139],"that":[140],"can":[144,166],"just":[145,168],"push":[146],"on":[147],"ground":[149],"not":[151],"pull":[152],"it.":[153],"Forces":[154],"compatible":[155],"friction":[157],"cones":[158],"have":[159],"be":[161],"considered,":[162],"while":[163],"contacts":[165],"slide":[167],"along":[169],"direction":[171],"prescribed":[172],"orientation":[175]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}