{"id":"https://openalex.org/W4401413976","doi":"https://doi.org/10.1109/icra57147.2024.10611075","title":"Optimization Based Dynamic Skateboarding of Quadrupedal Robot","display_name":"Optimization Based Dynamic Skateboarding of Quadrupedal Robot","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413976","doi":"https://doi.org/10.1109/icra57147.2024.10611075"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611075","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611075","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5101723036","display_name":"Zhe Xu","orcid":"https://orcid.org/0000-0002-3966-8644"},"institutions":[{"id":"https://openalex.org/I862669128","display_name":"Xiaomi (China)","ror":"https://ror.org/029f7bn57","country_code":"CN","type":"company","lineage":["https://openalex.org/I862669128"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhe Xu","raw_affiliation_strings":["Xiaomi Robotics Lab,Beijing,P.R. China,100085"],"affiliations":[{"raw_affiliation_string":"Xiaomi Robotics Lab,Beijing,P.R. China,100085","institution_ids":["https://openalex.org/I862669128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092310314","display_name":"Mohamed Al-Khulaqui","orcid":"https://orcid.org/0000-0001-5280-6776"},"institutions":[{"id":"https://openalex.org/I862669128","display_name":"Xiaomi (China)","ror":"https://ror.org/029f7bn57","country_code":"CN","type":"company","lineage":["https://openalex.org/I862669128"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mohamed Al-Khulaqui","raw_affiliation_strings":["Xiaomi Robotics Lab,Beijing,P.R. China,100085"],"affiliations":[{"raw_affiliation_string":"Xiaomi Robotics Lab,Beijing,P.R. China,100085","institution_ids":["https://openalex.org/I862669128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002819943","display_name":"Hanxin Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I862669128","display_name":"Xiaomi (China)","ror":"https://ror.org/029f7bn57","country_code":"CN","type":"company","lineage":["https://openalex.org/I862669128"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanxin Ma","raw_affiliation_strings":["Xiaomi Robotics Lab,Beijing,P.R. China,100085"],"affiliations":[{"raw_affiliation_string":"Xiaomi Robotics Lab,Beijing,P.R. China,100085","institution_ids":["https://openalex.org/I862669128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013406063","display_name":"Jiajun Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I862669128","display_name":"Xiaomi (China)","ror":"https://ror.org/029f7bn57","country_code":"CN","type":"company","lineage":["https://openalex.org/I862669128"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiajun Wang","raw_affiliation_strings":["Xiaomi Robotics Lab,Beijing,P.R. China,100085"],"affiliations":[{"raw_affiliation_string":"Xiaomi Robotics Lab,Beijing,P.R. China,100085","institution_ids":["https://openalex.org/I862669128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114205028","display_name":"Quanbin Xin","orcid":null},"institutions":[{"id":"https://openalex.org/I862669128","display_name":"Xiaomi (China)","ror":"https://ror.org/029f7bn57","country_code":"CN","type":"company","lineage":["https://openalex.org/I862669128"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quanbin Xin","raw_affiliation_strings":["Xiaomi Robotics Lab,Beijing,P.R. China,100085"],"affiliations":[{"raw_affiliation_string":"Xiaomi Robotics Lab,Beijing,P.R. China,100085","institution_ids":["https://openalex.org/I862669128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070650640","display_name":"Yangwei You","orcid":"https://orcid.org/0000-0002-9511-550X"},"institutions":[{"id":"https://openalex.org/I862669128","display_name":"Xiaomi (China)","ror":"https://ror.org/029f7bn57","country_code":"CN","type":"company","lineage":["https://openalex.org/I862669128"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangwei You","raw_affiliation_strings":["Xiaomi Robotics Lab,Beijing,P.R. China,100085"],"affiliations":[{"raw_affiliation_string":"Xiaomi Robotics Lab,Beijing,P.R. China,100085","institution_ids":["https://openalex.org/I862669128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107556956","display_name":"Mingliang Zhou","orcid":"https://orcid.org/0000-0002-1874-3641"},"institutions":[{"id":"https://openalex.org/I862669128","display_name":"Xiaomi (China)","ror":"https://ror.org/029f7bn57","country_code":"CN","type":"company","lineage":["https://openalex.org/I862669128"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingliang Zhou","raw_affiliation_strings":["Xiaomi Robotics Lab,Beijing,P.R. China,100085"],"affiliations":[{"raw_affiliation_string":"Xiaomi Robotics Lab,Beijing,P.R. China,100085","institution_ids":["https://openalex.org/I862669128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109760534","display_name":"Diyun Xiang","orcid":null},"institutions":[{"id":"https://openalex.org/I862669128","display_name":"Xiaomi (China)","ror":"https://ror.org/029f7bn57","country_code":"CN","type":"company","lineage":["https://openalex.org/I862669128"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Diyun Xiang","raw_affiliation_strings":["Xiaomi Robotics Lab,Beijing,P.R. China,100085"],"affiliations":[{"raw_affiliation_string":"Xiaomi Robotics Lab,Beijing,P.R. China,100085","institution_ids":["https://openalex.org/I862669128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061049387","display_name":"Shiwu Zhang","orcid":"https://orcid.org/0000-0001-7118-7704"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiwu Zhang","raw_affiliation_strings":["University of Science and Technology of China,Hefei,P.R. China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Hefei,P.R. China,230026","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5101723036"],"corresponding_institution_ids":["https://openalex.org/I862669128"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1128105,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"200","issue":null,"first_page":"8058","last_page":"8064"},"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9968000054359436,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.7324796915054321},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6559724807739258},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5627576112747192},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19686934351921082},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09905153512954712}],"concepts":[{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.7324796915054321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6559724807739258},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5627576112747192},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19686934351921082},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09905153512954712},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611075","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611075","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.41999998688697815,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1562460111","https://openalex.org/W2018860673","https://openalex.org/W2061983716","https://openalex.org/W2105802469","https://openalex.org/W2123871098","https://openalex.org/W2198582666","https://openalex.org/W2214607041","https://openalex.org/W2514816239","https://openalex.org/W2561234917","https://openalex.org/W2764255492","https://openalex.org/W2889305863","https://openalex.org/W2909331752","https://openalex.org/W2909553221","https://openalex.org/W2911195500","https://openalex.org/W2968213087","https://openalex.org/W2980301669","https://openalex.org/W2991389670","https://openalex.org/W3003397085","https://openalex.org/W3093326211","https://openalex.org/W3203378087","https://openalex.org/W4225669925","https://openalex.org/W4236914428","https://openalex.org/W4241459016","https://openalex.org/W4250058668","https://openalex.org/W4293160779","https://openalex.org/W4383109371"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W4388251424","https://openalex.org/W2008498579","https://openalex.org/W2923272690","https://openalex.org/W2559825912","https://openalex.org/W2064963663","https://openalex.org/W1966935220","https://openalex.org/W3100731831","https://openalex.org/W2806616984"],"abstract_inverted_index":{"Robot":[0],"skateboarding":[1,31],"is":[2,55,85,110],"a":[3,49,93,140],"novel":[4],"and":[5,19,23,46,70,117,146,152],"challenging":[6],"task":[7],"for":[8,75,96],"legged":[9],"robots.":[10],"Accurately":[11],"modeling":[12],"the":[13,38,61,68,97,114,119,148,154],"dynamics":[14],"of":[15,60,64],"dual":[16],"floating":[17],"bases":[18],"developing":[20],"effective":[21],"planning":[22],"control":[24,53,104,108],"methods":[25],"present":[26],"significant":[27],"complexities":[28],"in":[29,121,130],"accomplishing":[30],"behavior.":[32],"This":[33],"paper":[34],"focuses":[35],"on":[36,48],"enabling":[37],"quadrupedal":[39,134],"platform":[40],"CyberDog2":[41],"to":[42,87,112,143,150],"achieve":[43],"dynamic":[44],"balancing":[45],"acceleration":[47,90,138],"skateboard.":[50,155],"An":[51,99],"optimization-based":[52],"pipeline":[54],"developed":[56],"through":[57],"careful":[58],"derivation":[59],"system\u2019s":[62],"equations":[63],"motion,":[65],"considering":[66],"both":[67],"robot":[69,135],"skateboard":[71],"dynamics.":[72],"By":[73],"accounting":[74],"system":[76,120],"physical":[77],"constraints,":[78],"an":[79],"advanced":[80],"offline":[81],"trajectory":[82],"optimization":[83],"method":[84],"employed":[86],"generate":[88],"various":[89,131,144],"trajectories,":[91],"creating":[92],"motion":[94],"library":[95],"system.":[98],"online":[100],"linear":[101],"model":[102],"predictive":[103],"with":[105],"whole":[106],"body":[107],"framework":[109],"used":[111],"track":[113],"generated":[115],"trajectories":[116],"stablize":[118],"real-time.":[122],"To":[123],"validate":[124],"its":[125],"effectiveness,":[126],"we":[127],"conducted":[128],"experiments":[129],"scenarios.":[132],"The":[133],"successfully":[136],"performed":[137],"from":[139],"static":[141],"state":[142],"velocities":[145],"demonstrated":[147],"ability":[149],"balance":[151],"steer":[153]},"counts_by_year":[],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}
