{"id":"https://openalex.org/W2973043785","doi":"https://doi.org/10.1109/icra40945.2020.9196673","title":"Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control","display_name":"Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2973043785","doi":"https://doi.org/10.1109/icra40945.2020.9196673","mag":"2973043785"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.04947","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032652050","display_name":"Carlos Mastalli","orcid":"https://orcid.org/0000-0002-0725-4279"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"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"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR","GB"],"is_corresponding":true,"raw_author_name":"Carlos Mastalli","raw_affiliation_strings":["LAAS-CNRS,Gepetto Team,Toulouse,France","University of Edinburgh,"],"affiliations":[{"raw_affiliation_string":"LAAS-CNRS,Gepetto Team,Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"University of Edinburgh,","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065938528","display_name":"Rohan Budhiraja","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rohan Budhiraja","raw_affiliation_strings":["LAAS-CNRS,Gepetto Team,Toulouse,France"],"affiliations":[{"raw_affiliation_string":"LAAS-CNRS,Gepetto Team,Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036958906","display_name":"Wolfgang Merkt","orcid":"https://orcid.org/0000-0003-3235-4906"},"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":"Wolfgang Merkt","raw_affiliation_strings":["University of Edinburgh,School of Informatics,Edinburgh,UK","University of Edinburgh, School of Informatics, Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,Edinburgh,UK","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"University of Edinburgh, School of Informatics, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049026235","display_name":"Guilhem Saurel","orcid":"https://orcid.org/0000-0002-0867-1664"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Guilhem Saurel","raw_affiliation_strings":["LAAS-CNRS,Gepetto Team,Toulouse,France"],"affiliations":[{"raw_affiliation_string":"LAAS-CNRS,Gepetto Team,Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102881630","display_name":"Bilal Hammoud","orcid":"https://orcid.org/0000-0002-1279-3656"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bilal Hammoud","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Tübingen,Germany","[Max-Planck Institute for Intelligent Systems, Tubingen, Germany]"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Tübingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"[Max-Planck Institute for Intelligent Systems, Tubingen, Germany]","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009317342","display_name":"Maximilien Naveau","orcid":"https://orcid.org/0000-0002-1350-262X"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilien Naveau","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Tübingen,Germany","[Max-Planck Institute for Intelligent Systems, Tubingen, Germany]"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Tübingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"[Max-Planck Institute for Intelligent Systems, Tubingen, Germany]","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059986205","display_name":"Justin Carpentier","orcid":"https://orcid.org/0000-0001-6585-2894"},"institutions":[{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"other","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Justin Carpentier","raw_affiliation_strings":["PSL Research University,INRIA, ENS, CNRS,Paris,France"],"affiliations":[{"raw_affiliation_string":"PSL Research University,INRIA, ENS, CNRS,Paris,France","institution_ids":["https://openalex.org/I2746051580","https://openalex.org/I1326498283","https://openalex.org/I29607241","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026007843","display_name":"Ludovic Righetti","orcid":"https://orcid.org/0000-0002-6458-9112"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ludovic Righetti","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Tübingen,Germany","[Max-Planck Institute for Intelligent Systems, Tubingen, Germany]"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Tübingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"[Max-Planck Institute for Intelligent Systems, Tubingen, Germany]","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109248341","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"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":"Sethu Vijayakumar","raw_affiliation_strings":["University of Edinburgh,School of Informatics,Edinburgh,UK","University of Edinburgh, School of Informatics, Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,Edinburgh,UK","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"University of Edinburgh, School of Informatics, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046876471","display_name":"Nicolas Mansard","orcid":"https://orcid.org/0000-0002-8090-0601"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Mansard","raw_affiliation_strings":["LAAS-CNRS,Gepetto Team,Toulouse,France"],"affiliations":[{"raw_affiliation_string":"LAAS-CNRS,Gepetto Team,Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5032652050"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349","https://openalex.org/I190497903","https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":1.7827,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.87756397,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2536","last_page":"2542"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9959999918937683,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9959999918937683,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9922000169754028,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/dynamic-programming","display_name":"Dynamic programming","score":0.7101840972900391},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.6821096539497375},{"id":"https://openalex.org/keywords/differential-dynamic-programming","display_name":"Differential dynamic programming","score":0.6749882698059082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6708860397338867},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5888696908950806},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.5836346745491028},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5225479006767273},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5006086826324463},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4573068916797638},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4444543421268463},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37795180082321167},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21516498923301697},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08591875433921814}],"concepts":[{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.7101840972900391},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.6821096539497375},{"id":"https://openalex.org/C92292787","wikidata":"https://www.wikidata.org/wiki/Q5275342","display_name":"Differential dynamic programming","level":3,"score":0.6749882698059082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6708860397338867},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5888696908950806},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.5836346745491028},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5225479006767273},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5006086826324463},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4573068916797638},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4444543421268463},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37795180082321167},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21516498923301697},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08591875433921814},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":8,"locations":[{"id":"doi:10.1109/icra40945.2020.9196673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1909.04947","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.04947","pdf_url":"https://arxiv.org/pdf/1909.04947","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-02294059v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02294059","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"ICRA 2020 IEEE International Conference on Robotics and Automation, May 2020, Paris / Virtual, France. ⟨10.1109/ICRA40945.2020.9196673⟩","raw_type":"Conference papers"},{"id":"pmh:oai:HAL:hal-02961193v1","is_oa":true,"landing_page_url":"https://hal.laas.fr/hal-02961193","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":" 2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/c0b61949-54fa-4b68-b5e9-0d15d6dd09c9","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/c0b61949-54fa-4b68-b5e9-0d15d6dd09c9","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":"Mastalli, C, Budhiraja, R, Merkt, W, Saurel, G, Hammoud, B, Naveau, M, Carpentier, J, Righetti, L, Vijayakumar, S & Mansard, N 2020, Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. in 2020 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, pp. 2536-2542, 2020 International Conference on Robotics and Automation, Virtual conference, France, 31/05/20. https://doi.org/10.1109/ICRA40945.2020.9196673","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/c0b61949-54fa-4b68-b5e9-0d15d6dd09c9","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/c0b61949-54fa-4b68-b5e9-0d15d6dd09c9","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":"Mastalli, C, Budhiraja, R, Merkt, W, Saurel, G, Hammoud, B, Naveau, M, Carpentier, J, Righetti, L, Vijayakumar, S & Mansard, N 2020, Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. in 2020 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, pp. 2536-2542, 2020 International Conference on Robotics and Automation, Virtual conference, France, 31/05/20. https://doi.org/10.1109/ICRA40945.2020.9196673","raw_type":"contributionToPeriodical"},{"id":"doi:10.48550/arxiv.1909.04947","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.04947","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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"},{"id":"mag:2973043785","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.04947","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.04947","pdf_url":"https://arxiv.org/pdf/1909.04947","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334245","display_name":"Offshore Robotics for Certification of Assets","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320337391","display_name":"Division of Civil, Mechanical and Manufacturing Innovation","ror":"https://ror.org/028yd4c30"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W28293053","https://openalex.org/W88434223","https://openalex.org/W195033972","https://openalex.org/W618254468","https://openalex.org/W1544770838","https://openalex.org/W1562460111","https://openalex.org/W1971044547","https://openalex.org/W1975537977","https://openalex.org/W2054577881","https://openalex.org/W2087617385","https://openalex.org/W2112474089","https://openalex.org/W2158370675","https://openalex.org/W2198582666","https://openalex.org/W2412911125","https://openalex.org/W2470094176","https://openalex.org/W2491414412","https://openalex.org/W2529220408","https://openalex.org/W2567729074","https://openalex.org/W2737829489","https://openalex.org/W2738799195","https://openalex.org/W2744484133","https://openalex.org/W2763052367","https://openalex.org/W2771691050","https://openalex.org/W2774366155","https://openalex.org/W2784947652","https://openalex.org/W2788030459","https://openalex.org/W2804623852","https://openalex.org/W2898868201","https://openalex.org/W2906487027","https://openalex.org/W2909331752","https://openalex.org/W2920812058","https://openalex.org/W2963801017","https://openalex.org/W3004162504","https://openalex.org/W3102715624","https://openalex.org/W3105372678","https://openalex.org/W6601131878","https://openalex.org/W6603604263","https://openalex.org/W6607786297","https://openalex.org/W6642962755","https://openalex.org/W6747537972"],"related_works":["https://openalex.org/W3081791272","https://openalex.org/W2012186120","https://openalex.org/W3176953650","https://openalex.org/W2187153065","https://openalex.org/W651056422","https://openalex.org/W3204415469","https://openalex.org/W3091037752","https://openalex.org/W2514942416","https://openalex.org/W2963371825","https://openalex.org/W2939610791","https://openalex.org/W2949732336","https://openalex.org/W44150518","https://openalex.org/W2125240595","https://openalex.org/W2756627021","https://openalex.org/W177836583","https://openalex.org/W2800998522","https://openalex.org/W2252987798","https://openalex.org/W2756045070","https://openalex.org/W3119649950","https://openalex.org/W2760932507"],"abstract_inverted_index":{"We":[0,157],"introduce":[1],"Crocoddyl":[2,19],"(Contact":[3],"RObot":[4],"COntrol":[5],"by":[6],"Differential":[7,81,113],"DYnamic":[8],"Library),":[9],"an":[10],"open-source":[11],"framework":[12,163],"tailored":[13],"for":[14,29],"efficient":[15],"multi-contact":[16],"optimal":[17,76],"control.":[18],"efficiently":[20],"computes":[21],"the":[22,26,41,49,62,96,124,129,137,140,144,159],"state":[23,63],"trajectory":[24],"and":[25,52],"control":[27,77],"policy":[28],"a":[30,74,106],"given":[31],"predefined":[32],"sequence":[33],"of":[34,43,48,64,161],"contacts.":[35],"Its":[36],"efficiency":[37],"is":[38],"due":[39,101],"to":[40,59,102,111,123],"use":[42],"sparse":[44],"analytical":[45],"derivatives,":[46],"exploitation":[47],"problem":[50],"structure,":[51],"data":[53],"sharing.":[54],"It":[55],"employs":[56],"differential":[57],"geometry":[58],"properly":[60],"describe":[61],"any":[65],"geometrical":[66],"system,":[67],"e.g.":[68],"floating-base":[69],"systems.":[70],"Additionally,":[71],"we":[72,119,170],"propose":[73,120],"novel":[75],"algorithm":[78],"called":[79],"Feasibility-driven":[80],"Dynamic":[82,114],"Programming":[83,115],"(FDDP).":[84],"Our":[85],"method":[86],"does":[87],"not":[88],"add":[89],"extra":[90],"decision":[91],"variables":[92],"which":[93],"often":[94],"increases":[95],"computation":[97],"time":[98],"per":[99],"iteration":[100],"factorization.":[103],"FDDP":[104],"shows":[105],"greater":[107],"globalization":[108],"strategy":[109],"compared":[110],"classical":[112,125],"(DDP)":[116],"algorithms.":[117],"Concretely,":[118],"two":[121],"modifications":[122],"DDP":[126],"algorithm.":[127],"First,":[128],"backward":[130],"pass":[131],"accepts":[132],"infeasible":[133],"state-control":[134],"trajectories.":[135],"Second,":[136],"rollout":[138],"keeps":[139],"gaps":[141],"open":[142],"during":[143],"early":[145],"\"exploratory\"":[146],"iterations":[147],"(as":[148],"expected":[149],"in":[150],"multipleshooting":[151],"methods":[152],"with":[153],"only":[154],"equality":[155],"constraints).":[156],"showcase":[158],"performance":[160],"our":[162,168],"using":[164],"different":[165],"tasks.":[166],"With":[167],"method,":[169],"can":[171],"compute":[172],"highly-dynamic":[173],"maneuvers":[174],"(e.g.":[175],"jumping,":[176],"front-flip)":[177],"within":[178],"few":[179],"milliseconds.":[180]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}