{"id":"https://openalex.org/W4285102613","doi":"https://doi.org/10.1109/icra46639.2022.9811926","title":"Convex Model Predictive Control of Single Rigid Body Model on SO(3) for Versatile Dynamic Legged Motions","display_name":"Convex Model Predictive Control of Single Rigid Body Model on SO(3) for Versatile Dynamic Legged Motions","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102613","doi":"https://doi.org/10.1109/icra46639.2022.9811926"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811926","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5035315520","display_name":"Junjie Shen","orcid":"https://orcid.org/0000-0002-0449-1463"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Junjie Shen","raw_affiliation_strings":["University of California,Robotics and Mechanisms Laboratory,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Robotics and Mechanisms Laboratory,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["University of California,Robotics and Mechanisms Laboratory,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Robotics and Mechanisms Laboratory,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5035315520"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5266,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.94447797,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6586","last_page":"6592"},"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":0.9914000034332275,"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":0.9735000133514404,"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/model-predictive-control","display_name":"Model predictive control","score":0.7004104852676392},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6683380603790283},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6241874694824219},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5972615480422974},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.5846299529075623},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5513198971748352},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5089974403381348},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.49472758173942566},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.47803884744644165},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.46002426743507385},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4566047489643097},{"id":"https://openalex.org/keywords/rigid-body-dynamics","display_name":"Rigid body dynamics","score":0.4409744143486023},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.440099835395813},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4164726138114929},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4143602252006531},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3628920316696167},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.35198578238487244},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2659815549850464},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23390555381774902},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14937511086463928},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10269474983215332}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7004104852676392},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6683380603790283},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6241874694824219},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5972615480422974},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.5846299529075623},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5513198971748352},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5089974403381348},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.49472758173942566},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.47803884744644165},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.46002426743507385},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4566047489643097},{"id":"https://openalex.org/C28461519","wikidata":"https://www.wikidata.org/wiki/Q2037529","display_name":"Rigid body dynamics","level":3,"score":0.4409744143486023},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.440099835395813},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4164726138114929},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4143602252006531},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3628920316696167},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.35198578238487244},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2659815549850464},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23390555381774902},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14937511086463928},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10269474983215332},{"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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/icra46639.2022.9811926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811926","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1502308290","https://openalex.org/W1945123189","https://openalex.org/W1994275787","https://openalex.org/W2007677977","https://openalex.org/W2017587562","https://openalex.org/W2046287268","https://openalex.org/W2049918078","https://openalex.org/W2056223738","https://openalex.org/W2061063863","https://openalex.org/W2061983716","https://openalex.org/W2086587468","https://openalex.org/W2101340954","https://openalex.org/W2129224530","https://openalex.org/W2133859362","https://openalex.org/W2198582666","https://openalex.org/W2230625637","https://openalex.org/W2482726005","https://openalex.org/W2539534359","https://openalex.org/W2769646558","https://openalex.org/W2771123153","https://openalex.org/W2771691050","https://openalex.org/W2788030459","https://openalex.org/W2909331752","https://openalex.org/W2997235815","https://openalex.org/W3003335319","https://openalex.org/W3012148556","https://openalex.org/W3035239198","https://openalex.org/W3044242977","https://openalex.org/W3081791272","https://openalex.org/W3089564096","https://openalex.org/W3101798601","https://openalex.org/W3104730803","https://openalex.org/W3125449081","https://openalex.org/W3130162259","https://openalex.org/W3206339717","https://openalex.org/W3207570091","https://openalex.org/W4206246826","https://openalex.org/W4285102304","https://openalex.org/W6629917956","https://openalex.org/W6687510630","https://openalex.org/W6797254145","https://openalex.org/W6802891403"],"related_works":["https://openalex.org/W1547662599","https://openalex.org/W4233673530","https://openalex.org/W2329279984","https://openalex.org/W1662187412","https://openalex.org/W631019632","https://openalex.org/W2115700596","https://openalex.org/W4388787450","https://openalex.org/W2914794850","https://openalex.org/W2962943746","https://openalex.org/W2231190386"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,121,162],"convex":[4,168],"model":[5,25,169],"predictive":[6,170],"control":[7,38,45,171],"framework":[8,19,107,172],"for":[9,58,148],"versatile":[10],"dynamic":[11,153],"legged":[12,141,174],"motions":[13,154],"with":[14,133,143],"negligible":[15],"leg":[16],"dynamics.":[17],"The":[18,88,106],"utilizes":[20],"the":[21,29,41,55,59,73,79,96,109,156,166],"single":[22],"rigid":[23],"body":[24],"linearly":[26],"approximated":[27],"around":[28],"operating":[30],"point.":[31],"With":[32],"ground":[33],"reaction":[34],"forces":[35],"as":[36,181],"direct":[37],"inputs":[39],"to":[40,48],"system,":[42],"no":[43],"reference":[44,111],"trajectory":[46,115],"needs":[47],"be":[49,70,127],"specified":[50],"in":[51,130,155,173,178],"advance.":[52],"By":[53],"using":[54,78],"rotation":[56,74],"matrix":[57,75],"evolution":[60],"of":[61,81,146,152,165],"rotational":[62],"dynamics,":[63],"issues":[64],"arising":[65],"from":[66],"other":[67,179],"representations":[68],"can":[69,93,126],"avoided.":[71],"Moreover,":[72],"is":[76,90,118],"parametrized":[77],"history":[80],"angular":[82],"velocity":[83],"without":[84,101],"introducing":[85],"additional":[86],"variables.":[87],"effect":[89],"that":[91],"we":[92],"still":[94],"take":[95],"orientation":[97],"into":[98,120],"consideration":[99],"efficaciously":[100],"directly":[102],"working":[103],"on":[104,139],"it.":[105],"tackles":[108],"robot":[110],"tracking":[112],"problem":[113],"via":[114],"optimization,":[116],"which":[117],"formulated":[119],"standard":[122],"quadratic":[123],"program":[124],"and":[125,176],"solved":[128],"efficiently":[129],"real":[131],"time":[132],"guaranteed":[134],"optimality.":[135],"It":[136],"was":[137],"verified":[138],"various":[140],"robots":[142,175],"different":[144,150],"numbers":[145],"legs":[147],"performing":[149],"types":[151],"simulation":[157],"environment.":[158],"We":[159],"thus":[160],"envision":[161],"promising":[163],"future":[164],"proposed":[167],"potentially":[177],"applications":[180],"well.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}