{"id":"https://openalex.org/W3207570091","doi":"https://doi.org/10.1109/icra48506.2021.9561499","title":"A Novel Model Predictive Control Framework Using Dynamic Model Decomposition Applied to Dynamic Legged Locomotion","display_name":"A Novel Model Predictive Control Framework Using Dynamic Model Decomposition Applied to Dynamic Legged Locomotion","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207570091","doi":"https://doi.org/10.1109/icra48506.2021.9561499","mag":"3207570091"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561499","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":"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":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Junjie Shen","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Robotics and Mechanisms Laboratory, University of California, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Robotics and Mechanisms Laboratory, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Robotics and Mechanisms Laboratory, University of California, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Robotics and Mechanisms Laboratory, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5035315520"],"corresponding_institution_ids":["https://openalex.org/I161318765"],"apc_list":null,"apc_paid":null,"fwci":0.5014,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.6023826,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.9815999865531921,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9758999943733215,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6999713182449341},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6386514902114868},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6257811784744263},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5591264367103577},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5027899742126465},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.49318164587020874},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.48195740580558777},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4422897398471832},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4412161111831665},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.438057541847229},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.42316725850105286},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4161660075187683},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.32561081647872925},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31282249093055725},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2177313268184662},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18705463409423828},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18661433458328247},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.16104504466056824}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6999713182449341},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6386514902114868},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6257811784744263},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5591264367103577},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5027899742126465},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.49318164587020874},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.48195740580558777},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4422897398471832},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4412161111831665},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.438057541847229},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.42316725850105286},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4161660075187683},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.32561081647872925},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31282249093055725},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2177313268184662},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18705463409423828},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18661433458328247},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.16104504466056824},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561499","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1945123189","https://openalex.org/W1994275787","https://openalex.org/W2029015512","https://openalex.org/W2056223738","https://openalex.org/W2061983716","https://openalex.org/W2085746528","https://openalex.org/W2086587468","https://openalex.org/W2096361268","https://openalex.org/W2101340954","https://openalex.org/W2104479525","https://openalex.org/W2133859362","https://openalex.org/W2143729862","https://openalex.org/W2198582666","https://openalex.org/W2239166089","https://openalex.org/W2415458238","https://openalex.org/W2470094176","https://openalex.org/W2521503884","https://openalex.org/W2705688326","https://openalex.org/W2771123153","https://openalex.org/W2771691050","https://openalex.org/W2788030459","https://openalex.org/W2908590185","https://openalex.org/W2909553221","https://openalex.org/W2969111820","https://openalex.org/W2996714670","https://openalex.org/W2997235815","https://openalex.org/W3030637771","https://openalex.org/W3041790910","https://openalex.org/W3044242977","https://openalex.org/W3091513725","https://openalex.org/W3104730803","https://openalex.org/W6727167696","https://openalex.org/W6772412240"],"related_works":["https://openalex.org/W2206060124","https://openalex.org/W2005454405","https://openalex.org/W2371131212","https://openalex.org/W2739593313","https://openalex.org/W13333063","https://openalex.org/W2841879989","https://openalex.org/W3178074323","https://openalex.org/W2998534312","https://openalex.org/W1975764910","https://openalex.org/W2003677224"],"abstract_inverted_index":{"Dynamic":[0,94],"locomotion":[1,56,176],"for":[2,101],"legged":[3,64],"robots":[4],"is":[5,163],"difficult":[6],"because":[7],"the":[8,32,35,48,55,63,73,76,79,108,111,161,190],"system":[9],"dynamics":[10,38,66,100,136],"are":[11],"highly":[12],"nonlinear":[13],"and":[14,18,21,27,43,47,78,84,173],"complex,":[15],"nominally":[16],"underactuated":[17],"unstable,":[19],"multi-input":[20],"multi-output,":[22],"as":[23,25,142],"well":[24],"time-variant":[26],"hybrid.":[28],"One":[29],"usually":[30],"faces":[31],"choice":[33],"between":[34],"intricate":[36],"full-body":[37],"which":[39,52,131],"remains":[40],"computationally":[41],"expensive":[42],"sometimes":[44],"even":[45,174],"intractable,":[46],"empirically":[49],"simplified":[50],"model":[51,124],"inevitably":[53],"limits":[54],"capability.":[57],"In":[58],"this":[59],"paper,":[60],"we":[61,88,119],"explore":[62],"robot":[65,74,114,162],"from":[67],"a":[68,90,122,151,183],"different":[69],"perspective.":[70],"By":[71],"decomposing":[72],"into":[75],"body":[77,135,166],"legs,":[80],"with":[81,137],"interaction":[82],"forces":[83,141],"moments":[85],"connecting":[86],"them,":[87],"enjoy":[89],"novel":[91],"method":[92],"called":[93],"Model":[95],"Decomposition":[96],"that":[97,160],"involves":[98],"lower-dimensional":[99],"each":[102],"subsystem":[103],"while":[104],"their":[105],"composition":[106],"maintaining":[107],"equivalence":[109],"to":[110,150],"original":[112],"full-order":[113],"model.":[115],"Based":[116],"on":[117,177],"that,":[118],"further":[120],"propose":[121],"corresponding":[123],"predictive":[125],"control":[126,187],"framework":[127],"via":[128],"quadratic":[129],"programming,":[130],"con-siders":[132],"linearly":[133],"approximated":[134],"constrained":[138],"leg":[139],"reaction":[140],"inputs.":[143],"The":[144,156],"overall":[145],"methodology":[146],"was":[147],"successfully":[148],"applied":[149],"planar":[152],"five-link":[153],"biped":[154],"robot.":[155],"simulation":[157],"results":[158],"show":[159],"capable":[164],"of":[165],"reference":[167],"tracking,":[168,172],"push":[169],"recovery,":[170],"velocity":[171],"blind":[175],"fairly":[178],"rough":[179],"terrain.":[180],"This":[181],"suggests":[182],"promising":[184],"dynamic":[185],"motion":[186],"scheme":[188],"in":[189],"future.":[191]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}