{"id":"https://openalex.org/W3003703606","doi":"https://doi.org/10.1109/icra40945.2020.9197049","title":"Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running","display_name":"Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3003703606","doi":"https://doi.org/10.1109/icra40945.2020.9197049","mag":"3003703606"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197049","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/2001.10629","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014224596","display_name":"Kevin Green","orcid":"https://orcid.org/0000-0003-3922-4426"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kevin Green","raw_affiliation_strings":["School of Mechanical, Industrial, & Manufacturing Engineering at Oregon State University, Corvallis, OR, USA","School of Mechanical, Industrial, & Manufacturing Engineering at Oregon State University,Corvallis,OR,USA"],"affiliations":[{"raw_affiliation_string":"School of Mechanical, Industrial, & Manufacturing Engineering at Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"School of Mechanical, Industrial, & Manufacturing Engineering at Oregon State University,Corvallis,OR,USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076997453","display_name":"Ross L. Hatton","orcid":"https://orcid.org/0000-0002-0422-0209"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ross L. Hatton","raw_affiliation_strings":["School of Mechanical, Industrial, & Manufacturing Engineering at Oregon State University, Corvallis, OR, USA","School of Mechanical, Industrial, & Manufacturing Engineering at Oregon State University,Corvallis,OR,USA"],"affiliations":[{"raw_affiliation_string":"School of Mechanical, Industrial, & Manufacturing Engineering at Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"School of Mechanical, Industrial, & Manufacturing Engineering at Oregon State University,Corvallis,OR,USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026407792","display_name":"Jonathan Hurst","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Hurst","raw_affiliation_strings":["School of Mechanical, Industrial, & Manufacturing Engineering at Oregon State University, Corvallis, OR, USA","[OREGON STATE UNIVERSITY]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical, Industrial, & Manufacturing Engineering at Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"[OREGON STATE UNIVERSITY]","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014224596"],"corresponding_institution_ids":["https://openalex.org/I131249849"],"apc_list":null,"apc_paid":null,"fwci":0.087,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.36852787,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1445","last_page":"1451"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9567999839782715,"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":0.9503999948501587,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8527624607086182},{"id":"https://openalex.org/keywords/imperfect","display_name":"Imperfect","score":0.732733964920044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.682407557964325},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6360899806022644},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6296794414520264},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5146592259407043},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4777195453643799},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3852190673351288},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3565201759338379},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21992576122283936},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.17526495456695557},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1675565242767334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1619577705860138},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12663686275482178}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8527624607086182},{"id":"https://openalex.org/C2780310539","wikidata":"https://www.wikidata.org/wiki/Q12547192","display_name":"Imperfect","level":2,"score":0.732733964920044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.682407557964325},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6360899806022644},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6296794414520264},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5146592259407043},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4777195453643799},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3852190673351288},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3565201759338379},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21992576122283936},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.17526495456695557},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1675565242767334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1619577705860138},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12663686275482178},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9197049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197049","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:2001.10629","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.10629","pdf_url":"https://arxiv.org/pdf/2001.10629","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":"mag:3003703606","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2001.10629.pdf","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2001.10629","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2001.10629","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2001.10629","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.10629","pdf_url":"https://arxiv.org/pdf/2001.10629","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7099999785423279}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3003703606.pdf","grobid_xml":"https://content.openalex.org/works/W3003703606.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W256081288","https://openalex.org/W1484929546","https://openalex.org/W1501891458","https://openalex.org/W1519339220","https://openalex.org/W1971020841","https://openalex.org/W2009317155","https://openalex.org/W2060969870","https://openalex.org/W2074154222","https://openalex.org/W2091027246","https://openalex.org/W2098561496","https://openalex.org/W2123871098","https://openalex.org/W2159404808","https://openalex.org/W2167374596","https://openalex.org/W2206891562","https://openalex.org/W2296360731","https://openalex.org/W2461937780","https://openalex.org/W2767578104","https://openalex.org/W2804790641","https://openalex.org/W2806858658","https://openalex.org/W2892891469","https://openalex.org/W3124420883","https://openalex.org/W3150530246","https://openalex.org/W4237726214","https://openalex.org/W6609704046"],"related_works":["https://openalex.org/W2951805468","https://openalex.org/W2884545005","https://openalex.org/W3127508379","https://openalex.org/W2778352184","https://openalex.org/W60768693","https://openalex.org/W2973068080","https://openalex.org/W2890038505","https://openalex.org/W2597681922","https://openalex.org/W2564660597","https://openalex.org/W2911075136","https://openalex.org/W641289191","https://openalex.org/W2568646154","https://openalex.org/W2000803795","https://openalex.org/W2606978426","https://openalex.org/W3200237795","https://openalex.org/W2116108455","https://openalex.org/W3181977200","https://openalex.org/W2905747166","https://openalex.org/W427858174","https://openalex.org/W3109512906"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,9,30,97,142],"method":[3,18],"to":[4,22,51,58,68,75,83,117],"generate":[5],"actuation":[6],"plans":[7,60],"for":[8,61],"reduced":[10,48],"order,":[11],"dynamic":[12,90],"model":[13,50,91,124],"of":[14,46,71,92,99,121],"bipedal":[15],"running.":[16],"This":[17],"explicitly":[19],"enforces":[20],"robustness":[21],"ground":[23],"uncertainty.":[24],"The":[25,55,111,134],"plan":[26,40],"generated":[27],"is":[28,35,57,114,128,138],"not":[29],"fixed":[31],"body":[32],"trajectory":[33,144],"that":[34,64,79,151],"aggressively":[36],"stabilized:":[37],"instead,":[38],"the":[39,43,47,72,104,118,122],"interacts":[41],"with":[42,77,103,108],"passive":[44],"dynamics":[45,78,120],"order":[49],"create":[52,59],"emergent":[53],"robustness.":[54],"goal":[56],"legged":[62,93],"robots":[63],"will":[65],"be":[66],"robust":[67,149],"imperfect":[69],"perception":[70],"environment,":[73],"and":[74,130],"work":[76],"are":[80],"too":[81],"complex":[82],"optimize":[84,96],"in":[85,148],"real-time.":[86],"Working":[87],"within":[88],"this":[89],"locomotion,":[94],"we":[95],"set":[98],"disturbance":[100],"cases":[101],"together":[102],"nominal":[105],"case,":[106],"all":[107],"linked":[109],"inputs.":[110],"input":[112],"linking":[113],"nontrivial":[115],"due":[116],"hybrid":[119],"running":[123],"but":[125,146],"our":[126],"solution":[127],"effective":[129],"has":[131],"analytical":[132],"gradients.":[133],"optimization":[135],"procedure":[136],"proposed":[137],"significantly":[139],"slower":[140],"than":[141],"standard":[143],"optimization,":[145],"results":[147],"gaits":[150],"reject":[152],"disturbances":[153],"extremely":[154],"effectively":[155],"without":[156],"any":[157],"replanning":[158],"required.":[159]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-02T13:48:15.688549","created_date":"2025-10-10T00:00:00"}