{"id":"https://openalex.org/W4391423095","doi":"https://doi.org/10.1109/icar58858.2023.10406414","title":"Online Multi-Phase Trajectory Generation for Compliant Landing Control of Quadruped Robots","display_name":"Online Multi-Phase Trajectory Generation for Compliant Landing Control of Quadruped Robots","publication_year":2023,"publication_date":"2023-12-05","ids":{"openalex":"https://openalex.org/W4391423095","doi":"https://doi.org/10.1109/icar58858.2023.10406414"},"language":"en","primary_location":{"id":"doi:10.1109/icar58858.2023.10406414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar58858.2023.10406414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 21st International Conference on Advanced Robotics (ICAR)","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/A5100328343","display_name":"Shuai Wang","orcid":"https://orcid.org/0000-0003-1931-3085"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Wang","raw_affiliation_strings":["Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030364414","display_name":"Wanchao Chi","orcid":"https://orcid.org/0000-0002-0737-1416"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanchao Chi","raw_affiliation_strings":["Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002487675","display_name":"Jinbo Zuo","orcid":"https://orcid.org/0000-0002-4563-4723"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]},{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Jinbo Zuo","raw_affiliation_strings":["Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057","Department of Electrical & Electronic Engineering, The University of Manchester, Manchester, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Department of Electrical & Electronic Engineering, The University of Manchester, Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102738726","display_name":"Qinqin Zhou","orcid":"https://orcid.org/0000-0003-1477-3736"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinqin Zhou","raw_affiliation_strings":["Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100452005","display_name":"Ke Chen","orcid":"https://orcid.org/0000-0002-5864-5034"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Chen","raw_affiliation_strings":["Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101473093","display_name":"Sicheng Yang","orcid":"https://orcid.org/0009-0008-5201-4494"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sicheng Yang","raw_affiliation_strings":["Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090560809","display_name":"Lingzhu Xiang","orcid":null},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingzhu Xiang","raw_affiliation_strings":["Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103176848","display_name":"Y. Zheng","orcid":"https://orcid.org/0000-0002-4617-3252"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zheng","raw_affiliation_strings":["Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Tencent,Shenzhen,Guangdong Province,China,518057","institution_ids":["https://openalex.org/I2250653659"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"168","last_page":"175"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T12249","display_name":"Veterinary Orthopedics and Neurology","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/3404","display_name":"Small Animals"},"field":{"id":"https://openalex.org/fields/34","display_name":"Veterinary"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9718000292778015,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7478269338607788},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6826375722885132},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.5534477829933167},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.541779637336731},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5228376984596252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5207540988922119},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.51558917760849},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4971762001514435},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.4505506157875061},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4334689676761627},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35865968465805054},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.357662171125412},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35015398263931274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12905222177505493},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07239729166030884}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7478269338607788},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6826375722885132},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.5534477829933167},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.541779637336731},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5228376984596252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5207540988922119},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.51558917760849},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4971762001514435},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.4505506157875061},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4334689676761627},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35865968465805054},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.357662171125412},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35015398263931274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12905222177505493},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07239729166030884},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar58858.2023.10406414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar58858.2023.10406414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 21st International Conference on Advanced Robotics (ICAR)","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":22,"referenced_works":["https://openalex.org/W2002788559","https://openalex.org/W2013439434","https://openalex.org/W2116528556","https://openalex.org/W2154139861","https://openalex.org/W2909553221","https://openalex.org/W2968764556","https://openalex.org/W2971099763","https://openalex.org/W3042661043","https://openalex.org/W3170422092","https://openalex.org/W3172321357","https://openalex.org/W3197219002","https://openalex.org/W4206508375","https://openalex.org/W4220966960","https://openalex.org/W4225529872","https://openalex.org/W4225763870","https://openalex.org/W4250087872","https://openalex.org/W4285021062","https://openalex.org/W4285102283","https://openalex.org/W4306725827","https://openalex.org/W4317726916","https://openalex.org/W4383108459","https://openalex.org/W4390357468"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W2351666715","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"While":[0],"modern":[1],"quadruped":[2,97],"robots":[3],"can":[4,127],"jump":[5],"or":[6],"even":[7],"somersault,":[8],"without":[9],"proper":[10],"control,":[11],"landing":[12,32,93,113,165],"from":[13,54],"the":[14,24,64,68,109,141,147,157],"air":[15],"could":[16],"cause":[17],"serious":[18],"impacts":[19],"and":[20,26,39,170],"damages":[21],"to":[22,58,70,72,81,139,150],"both":[23,168],"mechanical":[25],"electrical":[27],"components":[28],"of":[29,111,156],"robots.":[30,98],"The":[31,154],"process":[33],"often":[34],"faces":[35],"different":[36],"robot's":[37],"poses":[38],"velocities,":[40],"e.g.,":[41,53],"vertical,":[42],"horizontal,":[43],"and/or":[44],"pitch":[45],"movements,":[46],"as":[47,49,116,119,121],"well":[48],"contact":[50,57,61],"phase":[51],"change,":[52],"initial":[55],"two-leg":[56],"final":[59],"four-leg":[60],"phase.":[62],"Also,":[63],"time":[65],"left":[66],"for":[67,96,145],"robot":[69],"respond":[71],"emerging":[73],"contacts":[74],"is":[75,137],"extremely":[76],"short":[77],"before":[78],"giving":[79],"rise":[80],"any":[82],"damage.":[83],"Considering":[84],"all":[85],"these":[86],"challenges,":[87],"this":[88],"paper":[89],"proposes":[90],"a":[91,102,122,133],"compliant":[92,152],"control":[94,135],"framework":[95,159],"First,":[99],"based":[100],"on":[101],"2-D":[103],"rigid":[104],"body":[105],"model,":[106],"we":[107],"formulate":[108],"computing":[110],"reference":[112,148],"trajectories":[114,149],"with":[115,163],"much":[117],"compliance":[118],"possible":[120],"quadratic":[123],"programming":[124],"problem,":[125],"which":[126],"be":[128],"solved":[129],"quickly":[130],"online.":[131],"Then,":[132],"model-predictive":[134],"algorithm":[136],"used":[138],"determine":[140],"joint":[142],"torque":[143],"commands":[144],"following":[146],"realize":[151],"landing.":[153],"effectiveness":[155],"proposed":[158],"has":[160],"been":[161],"verified":[162],"various":[164],"scenarios":[166],"in":[167],"simulation":[169],"real":[171],"experiments.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
