{"id":"https://openalex.org/W4413925858","doi":"https://doi.org/10.1109/icra55743.2025.11127362","title":"Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation","display_name":"Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925858","doi":"https://doi.org/10.1109/icra55743.2025.11127362"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127362","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":"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/A5111068867","display_name":"Kai S. Yun","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kai S. Yun","raw_affiliation_strings":["Carnegie Mellon University,Mechanical Engineering Department,Pittsburgh,PA"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Mechanical Engineering Department,Pittsburgh,PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101533302","display_name":"Rui Chen","orcid":"https://orcid.org/0000-0003-3978-7798"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rui Chen","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114370423","display_name":"Chase Dunaway","orcid":null},"institutions":[{"id":"https://openalex.org/I207123951","display_name":"New Mexico Institute of Mining and Technology","ror":"https://ror.org/005p9kw61","country_code":"US","type":"education","lineage":["https://openalex.org/I207123951"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chase Dunaway","raw_affiliation_strings":["New Mexico Institute of Mining and Technology,Mechanical Engineering Department,Socorro,NM"],"affiliations":[{"raw_affiliation_string":"New Mexico Institute of Mining and Technology,Mechanical Engineering Department,Socorro,NM","institution_ids":["https://openalex.org/I207123951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015076162","display_name":"John M. Dolan","orcid":"https://orcid.org/0000-0003-2062-100X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John M. Dolan","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040156274","display_name":"Changliu Liu","orcid":"https://orcid.org/0000-0002-3767-5517"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changliu Liu","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111068867"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35074096,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7771","last_page":"7777"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9764999747276306,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9764999747276306,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9537000060081482,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9207000136375427,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/index","display_name":"Index (typography)","score":0.6347872018814087},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5858253836631775},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5194332599639893},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4988839626312256},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4760867655277252},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46587488055229187},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1492527723312378},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11011490225791931},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.06507843732833862}],"concepts":[{"id":"https://openalex.org/C2777382242","wikidata":"https://www.wikidata.org/wiki/Q6017816","display_name":"Index (typography)","level":2,"score":0.6347872018814087},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5858253836631775},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5194332599639893},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4988839626312256},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4760867655277252},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46587488055229187},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1492527723312378},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11011490225791931},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.06507843732833862},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127362","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":[{"id":"https://openalex.org/G5619941284","display_name":null,"funder_award_id":"1950811","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1967184028","https://openalex.org/W1980569135","https://openalex.org/W2325770295","https://openalex.org/W2763941082","https://openalex.org/W2887154784","https://openalex.org/W2968945909","https://openalex.org/W2977676795","https://openalex.org/W2979251496","https://openalex.org/W3206532678","https://openalex.org/W3207637958","https://openalex.org/W4229706427","https://openalex.org/W4283756722","https://openalex.org/W4292249799","https://openalex.org/W4315606134","https://openalex.org/W4382935993","https://openalex.org/W4382936341","https://openalex.org/W4383109225","https://openalex.org/W4389665904","https://openalex.org/W4391020380","https://openalex.org/W4400946943","https://openalex.org/W4401415792","https://openalex.org/W4402260398","https://openalex.org/W4402264019","https://openalex.org/W4402354142","https://openalex.org/W4404317275"],"related_works":["https://openalex.org/W2997567050","https://openalex.org/W1982160337","https://openalex.org/W1483272040","https://openalex.org/W1971380437","https://openalex.org/W4283377908","https://openalex.org/W1526712007","https://openalex.org/W1533421371","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987"],"abstract_inverted_index":{"Varying":[0],"dynamics":[1,24,28,60,110],"pose":[2],"a":[3,75,92,113,138],"fundamental":[4],"difficulty":[5],"when":[6,108],"deploying":[7],"safe":[8,65,76,85],"control":[9,66],"laws":[10],"in":[11,50,101,115,148,151],"the":[12,22,27,30,42,58,63,97,105,109,120,144],"real":[13],"world.":[14],"Safety":[15,46],"Index":[16,47],"Synthesis":[17],"(SIS)":[18],"deeply":[19],"relies":[20],"on":[21,91],"system":[23],"and":[25,78,137],"once":[26],"change,":[29,111],"previously":[31],"synthesized":[32],"safety":[33,106],"index":[34,107],"becomes":[35],"invalid.":[36],"In":[37],"this":[38],"work,":[39],"we":[40],"show":[41],"real-time":[43,55],"efficacy":[44],"of":[45,140,146],"Adaptation":[48],"(SIA)":[49],"varying":[51,155],"dynamics.":[52,156],"SIA":[53,90,103,136,147],"enables":[54],"adaptation":[56],"to":[57,83],"changing":[59],"so":[61,118],"that":[62,84,119],"adapted":[64],"law":[67],"can":[68,122],"still":[69],"guarantee":[70],"1)":[71],"forward":[72],"invariance":[73],"within":[74],"region":[77],"2)":[79],"finite":[80],"time":[81],"convergence":[82],"region.":[86],"This":[87],"work":[88],"employs":[89],"packagecarrying":[93],"quadruped":[94,121],"robot,":[95],"where":[96],"payload":[98,116],"weight":[99],"changes":[100],"real-time.":[102],"updates":[104],"e.g.,":[112],"change":[114],"weight,":[117],"avoid":[123],"obstacles":[124,153],"while":[125],"achieving":[126],"its":[127],"performance":[128],"objectives.":[129],"Numerical":[130],"study":[131],"provides":[132],"theoretical":[133],"guarantees":[134],"for":[135],"series":[139],"hardware":[141],"experiments":[142],"demonstrate":[143],"effectiveness":[145],"real-world":[149],"deployment":[150],"avoiding":[152],"under":[154]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
