{"id":"https://openalex.org/W2739146943","doi":"https://doi.org/10.1109/icra.2017.7989624","title":"Online walking motion and foothold optimization for quadruped locomotion","display_name":"Online walking motion and foothold optimization for quadruped locomotion","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2739146943","doi":"https://doi.org/10.1109/icra.2017.7989624","mag":"2739146943"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989624","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":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://youtu.be/EBW3lpr1tB8","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071181618","display_name":"Alexander Winkler","orcid":"https://orcid.org/0000-0003-1839-0855"},"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":true,"raw_author_name":"Alexander W. Winkler","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETHZ Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETHZ Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040208292","display_name":"Farbod Farshidian","orcid":"https://orcid.org/0000-0001-8269-6272"},"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":"Farbod Farshidian","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETHZ Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETHZ Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053312475","display_name":"Michael Neunert","orcid":"https://orcid.org/0000-0003-2080-8376"},"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":"Michael Neunert","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETHZ Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETHZ Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075968312","display_name":"Diego Pardo","orcid":null},"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":"Diego Pardo","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETHZ Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETHZ Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077279214","display_name":"Jonas Buchli","orcid":"https://orcid.org/0000-0001-7494-8492"},"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":"Jonas Buchli","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETHZ Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETHZ Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5071181618"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":2.099,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.86488546,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5308","last_page":"5313"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9814000129699707,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9807999730110168,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7235330939292908},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6776885986328125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6214125752449036},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5935183763504028},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5794880390167236},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5748850107192993},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5677224397659302},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5639441609382629},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4803815484046936},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4658921957015991},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4621798098087311},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4364967942237854},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.42254209518432617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2782590985298157},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12600725889205933}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7235330939292908},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6776885986328125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6214125752449036},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5935183763504028},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5794880390167236},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5748850107192993},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5677224397659302},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5639441609382629},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4803815484046936},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4658921957015991},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4621798098087311},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4364967942237854},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.42254209518432617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2782590985298157},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12600725889205933},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2017.7989624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989624","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"},{"id":"pmh:oai:infoscience.epfl.ch:253735","is_oa":true,"landing_page_url":"https://youtu.be/EBW3lpr1tB8","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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":"conference proceedings"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/185421","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/185421","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"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":"Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-b-000185421","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000185421","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:253735","is_oa":true,"landing_page_url":"https://youtu.be/EBW3lpr1tB8","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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":"conference proceedings"},"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W276848478","https://openalex.org/W1592294156","https://openalex.org/W1896468122","https://openalex.org/W1974420726","https://openalex.org/W1990898645","https://openalex.org/W1995199698","https://openalex.org/W1996626756","https://openalex.org/W2037729465","https://openalex.org/W2042408133","https://openalex.org/W2043709302","https://openalex.org/W2056223738","https://openalex.org/W2093298840","https://openalex.org/W2101340954","https://openalex.org/W2110194613","https://openalex.org/W2111904757","https://openalex.org/W2112474089","https://openalex.org/W2116310395","https://openalex.org/W2123871098","https://openalex.org/W2133859362","https://openalex.org/W2144587497","https://openalex.org/W2150317946","https://openalex.org/W2153968339","https://openalex.org/W2154139861","https://openalex.org/W2162495121","https://openalex.org/W2294151168","https://openalex.org/W2296360731","https://openalex.org/W2415458238","https://openalex.org/W2491414412","https://openalex.org/W2529220408","https://openalex.org/W2645990732","https://openalex.org/W3000906202","https://openalex.org/W3099855898","https://openalex.org/W3104462899","https://openalex.org/W3105372678","https://openalex.org/W4241459016","https://openalex.org/W4253394173","https://openalex.org/W6610027523","https://openalex.org/W6664261525","https://openalex.org/W6739409706","https://openalex.org/W6822935082"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2606527650","https://openalex.org/W2130383927","https://openalex.org/W2133801610","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2120357486","https://openalex.org/W2034988786","https://openalex.org/W2220923292","https://openalex.org/W2163503851"],"abstract_inverted_index":{"We":[0],"present":[1],"an":[2,15],"algorithm":[3,86],"that":[4,84,98],"generates":[5],"walking":[6,79,91],"motions":[7],"for":[8,93],"quadruped":[9,105],"robots":[10],"without":[11],"the":[12,24,31,41,45,55,58,66,78,85],"use":[13],"of":[14,26],"explicit":[16],"footstep":[17],"planner":[18],"by":[19,36,71],"simultaneously":[20],"optimizing":[21],"over":[22],"both":[23],"Center":[25],"Mass":[27],"(CoM)":[28],"trajectory":[29],"and":[30,49,57],"footholds.":[32],"Feasibility":[33],"is":[34,68,87],"achieved":[35],"imposing":[37],"stability":[38],"constraints":[39,53],"on":[40,102],"CoM":[42,59],"related":[43],"to":[44,76,89],"Zero":[46],"Moment":[47],"Point":[48],"explicitly":[50],"enforcing":[51],"kinematic":[52],"between":[54],"footholds":[56],"position.":[60],"Given":[61],"a":[62,72,103],"desired":[63],"goal":[64],"state,":[65],"problem":[67],"solved":[69],"online":[70],"Nonlinear":[73],"Programming":[74],"solver":[75],"generate":[77,90],"motion.":[80],"Experimental":[81],"trials":[82],"show":[83],"able":[88],"gaits":[92],"multiple":[94],"steps":[95],"in":[96],"milliseconds":[97],"can":[99],"be":[100],"executed":[101],"real":[104],"robot.":[106]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}