{"id":"https://openalex.org/W4383109248","doi":"https://doi.org/10.1109/icra48891.2023.10160896","title":"Dynamic Locomotion of a Quadruped Robot with Active Spine via Model Predictive Control","display_name":"Dynamic Locomotion of a Quadruped Robot with Active Spine via Model Predictive Control","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109248","doi":"https://doi.org/10.1109/icra48891.2023.10160896"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160896","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5102531361","display_name":"Wanyue Li","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wanyue Li","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077283808","display_name":"Zida Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zida Zhou","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101409148","display_name":"Hui Cheng","orcid":"https://orcid.org/0000-0003-2579-7004"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Cheng","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102531361"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":1.5749,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.8164066,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1185","last_page":"1191"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9765999913215637,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9764999747276306,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.784257709980011},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6975171566009521},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6965038776397705},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.5795972347259521},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5151892900466919},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4561963677406311},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4476286470890045},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.418049693107605},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3948839604854584},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39358896017074585},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35666000843048096},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2506282329559326},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.20892569422721863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1740742325782776},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15929043292999268}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.784257709980011},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6975171566009521},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6965038776397705},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.5795972347259521},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5151892900466919},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4561963677406311},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4476286470890045},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.418049693107605},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3948839604854584},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39358896017074585},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35666000843048096},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2506282329559326},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.20892569422721863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1740742325782776},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15929043292999268},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160896","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8500000238418579,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1535702775","https://openalex.org/W1927753533","https://openalex.org/W1978216860","https://openalex.org/W2013439434","https://openalex.org/W2025939589","https://openalex.org/W2059242862","https://openalex.org/W2138557224","https://openalex.org/W2143729862","https://openalex.org/W2156174987","https://openalex.org/W2167578669","https://openalex.org/W2328920909","https://openalex.org/W2576692987","https://openalex.org/W2582150358","https://openalex.org/W2598816780","https://openalex.org/W2738319051","https://openalex.org/W2771691050","https://openalex.org/W2897319003","https://openalex.org/W2909331752","https://openalex.org/W2972810470","https://openalex.org/W3035904413","https://openalex.org/W3104730803","https://openalex.org/W3113616534","https://openalex.org/W3125925428","https://openalex.org/W3197955822","https://openalex.org/W3204374554","https://openalex.org/W3206345823","https://openalex.org/W3207360066","https://openalex.org/W4226395753","https://openalex.org/W6665960101","https://openalex.org/W6735120148","https://openalex.org/W6767349745","https://openalex.org/W6802153274"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W1979758163","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2042469328","https://openalex.org/W2060165215","https://openalex.org/W4312935962","https://openalex.org/W1988042083"],"abstract_inverted_index":{"As":[0],"an":[1,105,136],"active":[2,196],"spine":[3,114,142,161,168],"introduces":[4],"more":[5],"degree":[6],"of":[7,17,73,76,112,122,223],"freedoms":[8],"(DOFs)":[9],"as":[10,12,61,135],"well":[11],"time-varying":[13],"inertia,":[14,80],"locomotion":[15],"control":[16,44],"spined":[18,93],"quadruped":[19,55,94,191],"robots":[20,95],"is":[21,35,49,125,133,163,200],"challenging.":[22],"Direct":[23],"optimization":[24],"on":[25,46,127,153],"the":[26,58,68,71,74,84,99,110,113,116,120,123,130,146,154,159,166,177,179,184,203],"full":[27,180],"dynamics":[28,48],"model":[29,182],"causes":[30],"prohibitive":[31],"calculation":[32],"time":[33],"and":[34,79,87,171,216,228],"difficult":[36],"to":[37,39,176],"apply":[38],"embedded":[40],"platforms.":[41],"Model":[42],"predictive":[43],"(MPC)-based":[45],"SRB":[47,117,138,155],"a":[50,62,190,194],"prevalent":[51],"approach":[52,69,107],"for":[53],"ordinary":[54],"robots,":[56],"regarding":[57],"whole":[59,131],"robot":[60,124,132,192],"single":[63],"rigid":[64],"body":[65],"(SRB).":[66],"However,":[67],"ignores":[70],"changes":[72],"center":[75],"mass":[77,121],"(CoM)":[78],"which":[81,158],"seriously":[82],"affects":[83],"robot's":[85],"stability":[86],"could":[88],"not":[89],"be":[90],"used":[91],"in":[92,115,157,226,231],"directly.":[96],"To":[97],"resolve":[98],"above":[100],"issue,":[101],"this":[102],"paper":[103],"presents":[104],"MPC":[106,144],"that":[108,209],"considers":[109],"movements":[111],"model.":[118],"Since":[119],"concentrated":[126],"its":[128],"body,":[129],"modelled":[134],"unactuated":[137],"with":[139,193],"fully-actuated":[140],"internal":[141],"joints.":[143],"finds":[145],"optimal":[147],"ground":[148],"reaction":[149],"forces":[150],"(GRFs)":[151],"based":[152],"dynamics,":[156],"missing":[160],"part":[162],"complemented":[164],"by":[165],"pre-defined":[167],"joints'":[169],"states":[170],"corresponding":[172],"inertia":[173],"sequence.":[174],"According":[175],"GRFs,":[178],"dynamic":[181],"calculates":[183],"precise":[185],"joint":[186],"torques.":[187],"In":[188],"addition,":[189],"3-DOF":[195],"spine,":[197],"Yat-sen":[198,210],"Lion,":[199],"developed.":[201],"With":[202],"presented":[204],"approach,":[205],"experimental":[206],"results":[207],"illustrate":[208],"Lion":[211],"freely":[212],"achieves":[213],"bending,":[214],"arching,":[215],"turning":[217],"behaviors":[218],"while":[219],"trotting":[220],"at":[221],"speeds":[222],"3.8":[224],"m/s":[225,230],"simulations":[227],"0.5":[229],"real-world":[232],"experiments.":[233]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
