{"id":"https://openalex.org/W4413944780","doi":"https://doi.org/10.1109/icra55743.2025.11128397","title":"Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking","display_name":"Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413944780","doi":"https://doi.org/10.1109/icra55743.2025.11128397"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128397","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/A5109885156","display_name":"Franek Stark","orcid":null},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Franek Stark","raw_affiliation_strings":["Robotics Innovation Center at the German Research Center for Artificial Intelligence (DFKI),Bremen,Germany"],"affiliations":[{"raw_affiliation_string":"Robotics Innovation Center at the German Research Center for Artificial Intelligence (DFKI),Bremen,Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116160583","display_name":"Jakob Middelberg","orcid":null},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jakob Middelberg","raw_affiliation_strings":["Robotics Innovation Center at the German Research Center for Artificial Intelligence (DFKI),Bremen,Germany"],"affiliations":[{"raw_affiliation_string":"Robotics Innovation Center at the German Research Center for Artificial Intelligence (DFKI),Bremen,Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062952567","display_name":"Dennis Mronga","orcid":"https://orcid.org/0000-0002-8457-1278"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dennis Mronga","raw_affiliation_strings":["Robotics Innovation Center at the German Research Center for Artificial Intelligence (DFKI),Bremen,Germany"],"affiliations":[{"raw_affiliation_string":"Robotics Innovation Center at the German Research Center for Artificial Intelligence (DFKI),Bremen,Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069566632","display_name":"Shubham Vyas","orcid":"https://orcid.org/0000-0001-8773-8435"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shubham Vyas","raw_affiliation_strings":["Robotics Innovation Center at the German Research Center for Artificial Intelligence (DFKI),Bremen,Germany"],"affiliations":[{"raw_affiliation_string":"Robotics Innovation Center at the German Research Center for Artificial Intelligence (DFKI),Bremen,Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016436943","display_name":"Frank Kirchner","orcid":"https://orcid.org/0000-0002-1713-9784"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Kirchner","raw_affiliation_strings":["Robotics Innovation Center at the German Research Center for Artificial Intelligence (DFKI),Bremen,Germany"],"affiliations":[{"raw_affiliation_string":"Robotics Innovation Center at the German Research Center for Artificial Intelligence (DFKI),Bremen,Germany","institution_ids":["https://openalex.org/I33256026"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5109885156"],"corresponding_institution_ids":["https://openalex.org/I33256026"],"apc_list":null,"apc_paid":null,"fwci":0.7028,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.74575511,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"14412","last_page":"14418"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9757999777793884,"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":0.9757999777793884,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9401999711990356,"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/T10409","display_name":"Fuel Cells and Related Materials","score":0.9101999998092651,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/benchmarking","display_name":"Benchmarking","score":0.785338282585144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6407012939453125},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.5242348313331604},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.08827421069145203}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.785338282585144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6407012939453125},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.5242348313331604},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.08827421069145203},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128397","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1661823234","https://openalex.org/W1992809521","https://openalex.org/W2013439434","https://openalex.org/W2024728784","https://openalex.org/W2070576018","https://openalex.org/W2095633277","https://openalex.org/W2098561496","https://openalex.org/W2116901509","https://openalex.org/W2159307101","https://openalex.org/W2170723055","https://openalex.org/W2175083043","https://openalex.org/W2569940025","https://openalex.org/W2764255492","https://openalex.org/W2769646558","https://openalex.org/W2909331752","https://openalex.org/W2925163165","https://openalex.org/W2969111820","https://openalex.org/W3155272911","https://openalex.org/W3171189531","https://openalex.org/W3207305612","https://openalex.org/W4281622689","https://openalex.org/W4285102377","https://openalex.org/W4288057937","https://openalex.org/W4292363360","https://openalex.org/W4319787917","https://openalex.org/W4401414114","https://openalex.org/W4405922637"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4388251424","https://openalex.org/W4238897586","https://openalex.org/W2008498579","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184"],"abstract_inverted_index":{"Quadratic":[0],"Programs":[1],"(QPs)":[2],"are":[3,69],"widely":[4],"used":[5],"in":[6,13,94,139,165],"the":[7,25,29,35,104,120,154,175],"control":[8],"of":[9,31,37,60,97,119,122,156],"walking":[10,96,166],"robots,":[11],"especially":[12],"Model":[14],"Predictive":[15],"Control":[16,20],"(MPC)":[17],"and":[18,34,46,66,77,81,159,168],"Whole-Body":[19],"(WBC).":[21],"In":[22,71],"both":[23,42],"cases,":[24],"controller":[26],"design":[27],"requires":[28],"formulation":[30],"a":[32,38,111,116,143,148],"QP":[33,40,54,64,79,123,129,157],"selection":[36,155],"suitable":[39],"solver,":[41],"requiring":[43],"considerable":[44],"time":[45],"expertise.":[47],"While":[48],"computational":[49,61,92],"performance":[50,68,112],"benchmarks":[51],"exist":[52],"for":[53,131,136,151,161],"solvers,":[55],"studies":[56],"comparing":[57],"optimal":[58],"combinations":[59],"hardware":[62],"(HW),":[63],"formulation,":[65],"solver":[67],"lacking.":[70],"this":[72,145],"work,":[73],"we":[74,134],"compare":[75],"dense":[76],"sparse":[78],"formulations,":[80],"multiple":[82],"solving":[83],"methods":[84],"on":[85,90,153],"different":[86,128,162],"HW":[87,163],"architectures,":[88],"focusing":[89],"their":[91],"efficiency":[93,121],"dynamic":[95],"four-legged":[98],"robots":[99,167],"using":[100],"MPC.":[101],"We":[102,125],"introduce":[103],"Solve":[105],"Frequency":[106],"per":[107],"Watt":[108],"(SFPW)":[109],"as":[110],"measure":[113],"to":[114],"enable":[115],"cross-hardware":[117],"comparison":[118],"solvers.":[124],"also":[126],"benchmark":[127],"solvers":[130,160],"WBC":[132],"that":[133],"use":[135],"trajectory":[137],"stabilization":[138],"quadrupedal":[140],"walking.":[141],"As":[142],"result,":[144],"paper":[146],"recommends":[147],"starting":[149],"point":[150],"practitioners":[152],"formulations":[158],"architectures":[164],"indicates":[169],"which":[170],"problems":[171],"should":[172],"be":[173],"devoted":[174],"greater":[176],"technical":[177],"effort.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
