{"id":"https://openalex.org/W2738139673","doi":"https://doi.org/10.1109/icra.2017.7989557","title":"Quadrupedal locomotion using trajectory optimization and hierarchical whole body control","display_name":"Quadrupedal locomotion using trajectory optimization and hierarchical whole body control","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2738139673","doi":"https://doi.org/10.1109/icra.2017.7989557","mag":"2738139673"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989557","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5010702403","display_name":"Christian Gehring","orcid":"https://orcid.org/0000-0003-2432-8767"},"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":"Christian Gehring","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000837610","display_name":"C. Dario Bellicoso","orcid":"https://orcid.org/0000-0003-3856-0735"},"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":"C. Dario Bellicoso","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061972919","display_name":"P\u00e9ter Fankhauser","orcid":"https://orcid.org/0000-0002-1311-4010"},"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":"Peter Fankhauser","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055713873","display_name":"Stelian Coros","orcid":"https://orcid.org/0000-0001-6604-4784"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stelian Coros","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I2799323385","display_name":"Board of the Swiss Federal Institutes of Technology","ror":"https://ror.org/01rvn4p91","country_code":"CH","type":"government","lineage":["https://openalex.org/I2799323385"]},{"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":"Marco Hutter","raw_affiliation_strings":["Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH","institution_ids":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4788","last_page":"4794"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9934999942779541,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9922999739646912,"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/control-theory","display_name":"Control theory (sociology)","score":0.8152039051055908},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.70865398645401},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.6918034553527832},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6810430884361267},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.640407919883728},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6148574948310852},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5450234413146973},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5165452361106873},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5165418982505798},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49916720390319824},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4918968677520752},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4446997046470642},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3721967339515686},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33958420157432556},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.33921515941619873},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2352764904499054},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.23026412725448608},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22221070528030396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14058345556259155},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07468238472938538}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8152039051055908},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.70865398645401},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.6918034553527832},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6810430884361267},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.640407919883728},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6148574948310852},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5450234413146973},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5165452361106873},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5165418982505798},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49916720390319824},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4918968677520752},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4446997046470642},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3721967339515686},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33958420157432556},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.33921515941619873},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2352764904499054},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.23026412725448608},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22221070528030396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14058345556259155},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07468238472938538},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989557","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1499277207","https://openalex.org/W1975230295","https://openalex.org/W2012294177","https://openalex.org/W2015003349","https://openalex.org/W2028208724","https://openalex.org/W2033480951","https://openalex.org/W2033541559","https://openalex.org/W2042408133","https://openalex.org/W2080514141","https://openalex.org/W2087617385","https://openalex.org/W2127197749","https://openalex.org/W2133859362","https://openalex.org/W2139053308","https://openalex.org/W2140190473","https://openalex.org/W2153968339","https://openalex.org/W2159220301","https://openalex.org/W2161427949","https://openalex.org/W2198582666","https://openalex.org/W2294151168","https://openalex.org/W2296360731","https://openalex.org/W2413365548","https://openalex.org/W2415458238","https://openalex.org/W2491414412","https://openalex.org/W2571115941","https://openalex.org/W2953250718","https://openalex.org/W4241459016","https://openalex.org/W4250058668","https://openalex.org/W6644135095","https://openalex.org/W6722878574","https://openalex.org/W6822935082"],"related_works":["https://openalex.org/W4206704743","https://openalex.org/W4313119266","https://openalex.org/W2164807043","https://openalex.org/W4231448069","https://openalex.org/W2019128690","https://openalex.org/W2128461291","https://openalex.org/W2355907103","https://openalex.org/W1495847109","https://openalex.org/W2270789747","https://openalex.org/W2390817143"],"abstract_inverted_index":{"Quadrupedal":[0],"locomotion":[1],"can":[2,34,66],"be":[3,35,67],"described":[4],"as":[5],"a":[6,31,48,61,73],"constrained":[7],"optimization":[8],"problem":[9],"that":[10,33,51],"is":[11,60],"very":[12,62],"hard":[13],"to":[14,17],"solve":[15],"due":[16],"the":[18,55,87],"high":[19],"dimensional,":[20],"nonlinear":[21],"and":[22,69,101],"non-smooth":[23],"system":[24,56,75],"dynamics.":[25,57],"In":[26],"this":[27],"paper,":[28],"we":[29,94],"propose":[30],"formulation":[32],"solved":[36],"within":[37],"few":[38],"seconds":[39],"using":[40,76],"sequential":[41],"quadratic":[42],"programming.":[43],"This":[44],"method":[45],"considers":[46],"only":[47],"simplified":[49],"model":[50],"just":[52],"sufficiently":[53],"represents":[54],"The":[58],"output":[59],"coarse":[63],"plan,":[64],"which":[65],"accurately":[68],"robustly":[70],"followed":[71],"on":[72],"real":[74],"hierarchical":[77],"whole-body":[78],"control":[79],"combined":[80],"with":[81],"inverted":[82],"pendulum-based":[83],"reactive":[84],"stepping.":[85],"Using":[86],"fully":[88],"torque":[89],"controllable":[90],"quadrupedal":[91],"robot":[92],"ANYmal,":[93],"present":[95],"successful":[96],"experiments":[97],"for":[98],"walking,":[99],"trotting,":[100],"gait":[102],"transitions":[103],"even":[104],"under":[105],"substantial":[106],"external":[107],"disturbances.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
