{"id":"https://openalex.org/W4413917340","doi":"https://doi.org/10.1109/icra55743.2025.11127343","title":"Online Nonlinear MPC for Multimodal Locomotion","display_name":"Online Nonlinear MPC for Multimodal Locomotion","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917340","doi":"https://doi.org/10.1109/icra55743.2025.11127343"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127343","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5119514390","display_name":"Saverio Taliani","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Saverio Taliani","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004259374","display_name":"Gabriele Nava","orcid":"https://orcid.org/0000-0001-8965-2934"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gabriele Nava","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072898940","display_name":"Giuseppe L\u2019Erario","orcid":"https://orcid.org/0000-0001-6042-3222"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe L'Erario","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027625117","display_name":"Mohamed Elobaid","orcid":"https://orcid.org/0000-0003-3446-288X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mohamed Elobaid","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049751640","display_name":"Giulio Romualdi","orcid":"https://orcid.org/0000-0002-6461-3231"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulio Romualdi","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081455901","display_name":"Daniele Pucci","orcid":"https://orcid.org/0000-0002-7600-3203"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Pucci","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12344","last_page":"12351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9993000030517578,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.991599977016449,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/computer-science","display_name":"Computer science","score":0.60186368227005},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5417121648788452},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09491246938705444}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.60186368227005},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5417121648788452},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09491246938705444},{"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/icra55743.2025.11127343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127343","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1525662195","https://openalex.org/W2118320757","https://openalex.org/W2123871098","https://openalex.org/W2125150855","https://openalex.org/W2138136244","https://openalex.org/W2151182239","https://openalex.org/W2205656927","https://openalex.org/W2335044248","https://openalex.org/W2539534359","https://openalex.org/W2567137345","https://openalex.org/W2568656471","https://openalex.org/W2735202871","https://openalex.org/W2842089854","https://openalex.org/W2913401277","https://openalex.org/W2962943672","https://openalex.org/W2963190023","https://openalex.org/W3091522950","https://openalex.org/W3203378087","https://openalex.org/W3217056046","https://openalex.org/W4226270516","https://openalex.org/W4281679853","https://openalex.org/W4293056293","https://openalex.org/W4313549808","https://openalex.org/W4313562870","https://openalex.org/W4313562873","https://openalex.org/W4383108655","https://openalex.org/W4383108747","https://openalex.org/W4384917042","https://openalex.org/W4390480938","https://openalex.org/W4390481238","https://openalex.org/W4399282718","https://openalex.org/W4401905821"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Aerial":[0],"humanoid":[1,100],"robots":[2],"can":[3],"enhance":[4],"the":[5,26,29,34,37,52,104,117,122],"efficiency":[6],"and":[7,33,51,59,76,85],"safety":[8],"of":[9,17,28,36,106],"rescue":[10],"operations":[11],"in":[12,93],"disaster":[13],"scenarios.":[14],"The":[15,62,88,109],"control":[16,27,89,111],"such":[18],"complex":[19],"machines":[20],"presents":[21],"many":[22],"challenges,":[23],"for":[24],"instance,":[25],"different":[30,82],"locomotion":[31,83],"strategies":[32,84],"stabilization":[35],"transition":[38,86],"maneuvers.":[39,87],"In":[40],"this":[41],"article,":[42],"we":[43],"present":[44],"an":[45],"online":[46],"nonlinear":[47],"Model":[48],"Predictive":[49],"Controller":[50],"relative":[53],"prediction":[54],"model":[55,67],"to":[56,68,114],"stabilize":[57,116],"walking":[58],"flying":[60],"trajectories.":[61],"controller":[63],"uses":[64],"a":[65,94],"reduced":[66],"generate":[69],"feasible":[70],"base":[71],"link":[72],"references,":[73],"thrust":[74],"profiles,":[75],"contact":[77],"forces":[78],"while":[79,120],"dealing":[80],"with":[81],"algorithm":[90],"is":[91],"tested":[92],"simulated":[95],"environment":[96],"using":[97],"our":[98],"aerial":[99],"robot":[101],"iRonCub":[102],"under":[103],"effect":[105],"external":[107],"disturbances.":[108],"proposed":[110],"strategy":[112],"demonstrates":[113],"effectively":[115],"desired":[118],"trajectories":[119],"keeping":[121],"problem":[123],"still":[124],"treatable":[125],"online.":[126]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}