{"id":"https://openalex.org/W4415524681","doi":"https://doi.org/10.1109/humanoids65713.2025.11203053","title":"Control of Legged Robots Using Model Predictive Optimized Path Integral","display_name":"Control of Legged Robots Using Model Predictive Optimized Path Integral","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524681","doi":"https://doi.org/10.1109/humanoids65713.2025.11203053"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203053","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","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/A5034042939","display_name":"Hossein Keshavarz","orcid":"https://orcid.org/0000-0002-1031-9862"},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Hossein Keshavarz","raw_affiliation_strings":["University of Calgary,Department of Mechanical Engineering,Calgary,AB,Canada"],"affiliations":[{"raw_affiliation_string":"University of Calgary,Department of Mechanical Engineering,Calgary,AB,Canada","institution_ids":["https://openalex.org/I168635309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035410040","display_name":"Alejandro Ramirez-Serrano","orcid":null},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Alejandro Ramirez-Serrano","raw_affiliation_strings":["University of Calgary,Department of Mechanical Engineering,Calgary,AB,Canada"],"affiliations":[{"raw_affiliation_string":"University of Calgary,Department of Mechanical Engineering,Calgary,AB,Canada","institution_ids":["https://openalex.org/I168635309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043216529","display_name":"Majid Khadiv","orcid":"https://orcid.org/0000-0001-9889-6543"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Majid Khadiv","raw_affiliation_strings":["Technical University of Munich (TUM),Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich (TUM),Munich Institute of Robotics and Machine Intelligence (MIRMI),Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5034042939"],"corresponding_institution_ids":["https://openalex.org/I168635309"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31757804,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9937999844551086,"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":0.9937999844551086,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9854999780654907,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9427000284194946,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.8955000042915344},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7932999730110168},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7613000273704529},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6053000092506409},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6026999950408936},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5669999718666077},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4729999899864197},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42730000615119934},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4056999981403351}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8955000042915344},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7932999730110168},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7613000273704529},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6053000092506409},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6026999950408936},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5669999718666077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5587000250816345},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4729999899864197},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42730000615119934},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4056999981403351},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.40130001306533813},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.36230000853538513},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3560999929904938},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.3352000117301941},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.33239999413490295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3264000117778778},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.32600000500679016},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.32170000672340393},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.31360000371932983},{"id":"https://openalex.org/C205555498","wikidata":"https://www.wikidata.org/wiki/Q505588","display_name":"CMA-ES","level":4,"score":0.31299999356269836},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.31049999594688416},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3021000027656555},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30000001192092896},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.298799991607666},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.28929999470710754},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2574999928474426}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203053","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W2132083787","https://openalex.org/W2158782408","https://openalex.org/W2584986912","https://openalex.org/W2911087563","https://openalex.org/W2972830116","https://openalex.org/W3020839343","https://openalex.org/W3130657420","https://openalex.org/W4205430897","https://openalex.org/W4293741188","https://openalex.org/W4313639240","https://openalex.org/W4378696928","https://openalex.org/W4383097364","https://openalex.org/W4387682164","https://openalex.org/W4401415792","https://openalex.org/W4403035129","https://openalex.org/W4404576594","https://openalex.org/W4404954016","https://openalex.org/W4404954595","https://openalex.org/W4405520854","https://openalex.org/W4405787394","https://openalex.org/W4406779533","https://openalex.org/W4413917178"],"related_works":[],"abstract_inverted_index":{"Legged":[0],"robots":[1,24,76,105],"possess":[2],"a":[3,49,127],"unique":[4],"ability":[5],"to":[6,69,106,116],"traverse":[7],"rough":[8],"terrains":[9],"and":[10,63,90],"navigate":[11],"cluttered":[12],"environments,":[13],"making":[14],"them":[15],"well-suited":[16],"for":[17,74],"complex,":[18],"real-world":[19],"unstructured":[20],"scenarios.":[21,79],"However,":[22],"such":[23],"have":[25,41],"not":[26],"yet":[27],"achieved":[28],"the":[29,85],"same":[30],"level":[31],"as":[32,136],"seen":[33],"in":[34,123],"natural":[35],"systems.":[36],"Recently,":[37],"sampling-based":[38,50],"predictive":[39,52,56,95],"controllers":[40],"demonstrated":[42],"particularly":[43],"promising":[44],"results.":[45],"This":[46],"paper":[47],"investigates":[48],"model":[51,55,94],"strategy":[53],"combining":[54,84],"path":[57,97],"integral":[58,98],"(MPPI)":[59],"with":[60],"cross-entropy":[61],"(CE)":[62],"covariance":[64],"matrix":[65],"adaptation":[66],"(CMA)":[67],"methods":[68],"generate":[70],"real-time":[71],"whole-body":[72],"motions":[73],"legged":[75],"across":[77],"multiple":[78,124],"The":[80],"results":[81,110],"show":[82,130],"that":[83,131],"benefits":[86],"of":[87],"MPPI,":[88],"CE":[89],"CMA,":[91],"namely":[92],"using":[93,111],"optimized":[96],"(MPOPI),":[99],"demonstrates":[100],"greater":[101],"sample":[102],"efficiency,":[103],"enabling":[104],"attain":[107],"superior":[108],"locomotion":[109,142],"fewer":[112],"samples":[113],"when":[114],"compared":[115],"typical":[117],"MPPI":[118],"algorithms.":[119],"Extensive":[120],"simulation":[121],"experiments":[122],"scenarios":[125],"on":[126],"quadruped":[128],"robot":[129],"MPOPI":[132],"can":[133],"be":[134],"used":[135],"an":[137],"anytime":[138],"control":[139],"strategy,":[140],"increasing":[141],"capabilities":[143],"at":[144],"each":[145],"iteration.":[146]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-24T00:00:00"}