{"id":"https://openalex.org/W2947983634","doi":"https://doi.org/10.1109/icarm.2019.8834241","title":"Model Predictive Control for Motion Planning of Quadrupedal Locomotion","display_name":"Model Predictive Control for Motion Planning of Quadrupedal Locomotion","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2947983634","doi":"https://doi.org/10.1109/icarm.2019.8834241","mag":"2947983634"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2019.8834241","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8834241","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/e9c523e1-193e-4928-b0da-7d1480565395","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029553499","display_name":"Yapeng Shi","orcid":"https://orcid.org/0000-0003-4373-4349"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yapeng Shi","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100399553","display_name":"Pengfei Wang","orcid":"https://orcid.org/0000-0002-3061-9897"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102985038","display_name":"Mantian Li","orcid":"https://orcid.org/0000-0003-4689-3484"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mantian Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101991352","display_name":"Xin Wang","orcid":"https://orcid.org/0000-0003-2659-6677"},"institutions":[{"id":"https://openalex.org/I4210159500","display_name":"Shenzhen Academy of Aerospace Technology","ror":"https://ror.org/05etzsm06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210159500"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Wang","raw_affiliation_strings":["China Aerospace Science, Shenzhen academy of aerospace technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"China Aerospace Science, Shenzhen academy of aerospace technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210159500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005798294","display_name":"Zhenyu Jiang","orcid":"https://orcid.org/0000-0002-6224-2406"},"institutions":[{"id":"https://openalex.org/I4210159500","display_name":"Shenzhen Academy of Aerospace Technology","ror":"https://ror.org/05etzsm06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210159500"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyu Jiang","raw_affiliation_strings":["China Aerospace Science, Shenzhen academy of aerospace technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"China Aerospace Science, Shenzhen academy of aerospace technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210159500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["School of Informatics, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5029553499"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.2934,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.54384785,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"87","last_page":"92"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9787999987602234,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9706000089645386,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/inverted-pendulum","display_name":"Inverted pendulum","score":0.739840030670166},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7270278930664062},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6914989948272705},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5638201236724854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5349726676940918},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5233104228973389},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.46852797269821167},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3697243332862854},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3278278112411499},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2771698832511902},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2339949607849121},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22577700018882751},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1387142837047577},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07915931940078735},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07597798109054565}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.739840030670166},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7270278930664062},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6914989948272705},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5638201236724854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5349726676940918},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5233104228973389},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.46852797269821167},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3697243332862854},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3278278112411499},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2771698832511902},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2339949607849121},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22577700018882751},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1387142837047577},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07915931940078735},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07597798109054565},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icarm.2019.8834241","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8834241","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/e9c523e1-193e-4928-b0da-7d1480565395","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/e9c523e1-193e-4928-b0da-7d1480565395","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"Shi, Y, Wang, P, Li, M, Wang, X, Jiang, Z & Li, Z 2019, Model Predictive Control for Motion Planning of Quadrupedal Locomotion. in 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). Institute of Electrical and Electronics Engineers, Toyonaka, Japan, pp. 87-92, IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), Osaka, Japan, 3/07/19. https://doi.org/10.1109/ICARM.2019.8834241","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/e9c523e1-193e-4928-b0da-7d1480565395","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/8834241","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/e9c523e1-193e-4928-b0da-7d1480565395","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/e9c523e1-193e-4928-b0da-7d1480565395","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"Shi, Y, Wang, P, Li, M, Wang, X, Jiang, Z & Li, Z 2019, Model Predictive Control for Motion Planning of Quadrupedal Locomotion. in 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). Institute of Electrical and Electronics Engineers, Toyonaka, Japan, pp. 87-92, IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), Osaka, Japan, 3/07/19. https://doi.org/10.1109/ICARM.2019.8834241","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.75}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1431354335","https://openalex.org/W1975230295","https://openalex.org/W1977256428","https://openalex.org/W1995682655","https://openalex.org/W2002803749","https://openalex.org/W2004805052","https://openalex.org/W2009193957","https://openalex.org/W2013439434","https://openalex.org/W2041550061","https://openalex.org/W2042533733","https://openalex.org/W2053881671","https://openalex.org/W2056223738","https://openalex.org/W2096836513","https://openalex.org/W2133859362","https://openalex.org/W2153190828","https://openalex.org/W2167340365","https://openalex.org/W2171073614","https://openalex.org/W2228102949","https://openalex.org/W2333533581","https://openalex.org/W2477962321","https://openalex.org/W2510697717","https://openalex.org/W2593388699","https://openalex.org/W2752280387","https://openalex.org/W2771691050","https://openalex.org/W2783552768","https://openalex.org/W2795034878","https://openalex.org/W2857777774","https://openalex.org/W2889711749","https://openalex.org/W2896564217","https://openalex.org/W2914932369","https://openalex.org/W3104730803"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2350715914","https://openalex.org/W2080896647","https://openalex.org/W2025587901","https://openalex.org/W2028217664","https://openalex.org/W2158000646","https://openalex.org/W2540969754","https://openalex.org/W1852236601","https://openalex.org/W2886734572"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,28,65],"motivated":[3],"to":[4,15,33],"transfer":[5],"the":[6,34,49,56,72,84,101,111,114,134],"model":[7,38,46,68],"predictive":[8,39,69],"control":[9,40],"approach":[10],"used":[11],"in":[12,100],"bipedal":[13,35],"locomotion":[14],"formulate":[16],"gait":[17,25],"planning":[18,55],"of":[19,26,51,80,86,104,113],"quadruped":[20,106],"robots.":[21],"The":[22,37,91],"particular":[23],"lateral-sequence":[24],"quadrupeds":[27],"treated":[29],"as":[30],"an":[31],"equivalence":[32],"walking.":[36],"algorithm":[41],"uses":[42],"3D-linear":[43],"inverted":[44],"pendulum":[45],"for":[47,54,67,132],"representing":[48],"center":[50],"mass":[52],"dynamics":[53],"quadrupedal":[57],"gaits,":[58],"and":[59,97,109,125,130],"a":[60,87,105],"dimensionless":[61],"discrete-time":[62],"state-space":[63],"formulated":[64],"derived":[66],"control.":[70],"Subsequently,":[71],"footholds":[73],"can":[74],"be":[75],"generated":[76,92],"automatically":[77],"via":[78],"optimization":[79],"quadratic":[81],"programming":[82],"without":[83],"need":[85],"separate":[88],"footstep":[89],"planner.":[90],"walking":[93],"gaits":[94],"were":[95],"implemented":[96],"validated":[98],"first":[99],"physics":[102],"simulation":[103,124],"named":[107],"EHbot,":[108],"then":[110],"effectiveness":[112],"proposed":[115],"method":[116],"was":[117],"further":[118],"demonstrated":[119],"through":[120],"our":[121],"experiments.":[122],"Both":[123],"experimental":[126],"data":[127],"are":[128],"presented":[129],"analyzed":[131],"evaluating":[133],"performance.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
