{"id":"https://openalex.org/W3207111613","doi":"https://doi.org/10.1109/icra48506.2021.9560855","title":"Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot","display_name":"Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207111613","doi":"https://doi.org/10.1109/icra48506.2021.9560855","mag":"3207111613"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560855","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5035509343","display_name":"Matthew Chignoli","orcid":"https://orcid.org/0000-0003-3066-7001"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Chignoli","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7693","last_page":"7699"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9912999868392944,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9909999966621399,"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":0.7437688112258911},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6282198429107666},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.587681770324707},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5783128142356873},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5743807554244995},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5740436315536499},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5705533027648926},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33232375979423523},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2953509986400604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20458590984344482},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1563241183757782},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1213158369064331}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7437688112258911},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6282198429107666},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.587681770324707},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5783128142356873},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5743807554244995},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5740436315536499},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5705533027648926},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33232375979423523},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2953509986400604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20458590984344482},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1563241183757782},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1213158369064331},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560855","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5600000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1431688706","https://openalex.org/W1502718064","https://openalex.org/W1661823234","https://openalex.org/W2061983716","https://openalex.org/W2098432798","https://openalex.org/W2100185492","https://openalex.org/W2111508559","https://openalex.org/W2123871098","https://openalex.org/W2230625637","https://openalex.org/W2567729074","https://openalex.org/W2771691050","https://openalex.org/W2788030459","https://openalex.org/W2883488766","https://openalex.org/W2909331752","https://openalex.org/W2968213087","https://openalex.org/W2969111820","https://openalex.org/W2990052528","https://openalex.org/W3006891653","https://openalex.org/W3011608390","https://openalex.org/W3012148556","https://openalex.org/W3030526828","https://openalex.org/W3041078985","https://openalex.org/W3044242977","https://openalex.org/W3089564096","https://openalex.org/W3102051120","https://openalex.org/W3102212813","https://openalex.org/W3104730803","https://openalex.org/W4242875786"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961","https://openalex.org/W2904060783","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,17,24,85],"two":[4],"part":[5],"framework":[6,135],"for":[7,62],"online":[8],"planning":[9,108],"and":[10,48,80,146,154],"execution":[11],"of":[12,37,52,76,148],"dynamic":[13,39],"aerial":[14,78,140],"motions":[15,40,67,141],"on":[16,43,127],"quadruped":[18],"robot.":[19,54],"Motions":[20],"are":[21,68],"planned":[22,69],"via":[23,71],"centroidal":[25],"momentum-based":[26],"nonlinear":[27,57,72],"optimization":[28,58,73],"that":[29,89,95,133],"is":[30,59],"general":[31],"enough":[32],"to":[33,92],"produce":[34,138],"rich":[35],"sets":[36],"novel":[38],"based":[41],"solely":[42],"the":[44,53,93,98,115,128,134],"user-specified":[45],"contact":[46],"schedule":[47],"desired":[49],"launch":[50],"velocity":[51],"Since":[55],"this":[56],"not":[60],"tractable":[61],"real-time":[63],"receding":[64],"horizon":[65],"control,":[66],"once":[70],"in":[74,97],"preparation":[75],"an":[77],"motion":[79],"then":[81],"tracked":[82],"continuously":[83],"using":[84],"variational-based":[86],"optimal":[87,116],"controller":[88,117],"offers":[90],"robustness":[91],"uncertainties":[94],"exist":[96],"real":[99],"hardware":[100],"such":[101,142],"as":[102,143],"modeling":[103],"error":[104],"or":[105],"disturbances.":[106],"Motion":[107],"typically":[109],"takes":[110],"between":[111],"0.05-0.15":[112],"s,":[113],"while":[114],"finds":[118],"stabilizing":[119],"feedback":[120],"inputs":[121],"at":[122],"500":[123],"Hz.":[124],"Experimental":[125],"results":[126],"MIT":[129],"Mini":[130],"Cheetah":[131],"demonstrate":[132],"can":[136],"reliably":[137],"successful":[139],"jumps":[144,156],"onto":[145],"off":[147],"platforms,":[149],"spins,":[150],"flips,":[151],"barrel":[152],"rolls,":[153],"running":[155],"over":[157],"obstacles.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}