{"id":"https://openalex.org/W1977735758","doi":"https://doi.org/10.1109/iros.2014.6943016","title":"Quadratic programming-based inverse dynamics control for legged robots with sticking and slipping frictional contacts","display_name":"Quadratic programming-based inverse dynamics control for legged robots with sticking and slipping frictional contacts","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1977735758","doi":"https://doi.org/10.1109/iros.2014.6943016","mag":"1977735758"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943016","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5066733413","display_name":"Samuel Zapolsky","orcid":null},"institutions":[{"id":"https://openalex.org/I193531525","display_name":"George Washington University","ror":"https://ror.org/00y4zzh67","country_code":"US","type":"education","lineage":["https://openalex.org/I193531525"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Samuel Zapolsky","raw_affiliation_strings":["George Washington University, Washington, DC","Computer Science at George Washington University, DC, USA"],"affiliations":[{"raw_affiliation_string":"George Washington University, Washington, DC","institution_ids":["https://openalex.org/I193531525"]},{"raw_affiliation_string":"Computer Science at George Washington University, DC, USA","institution_ids":["https://openalex.org/I193531525"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049448053","display_name":"Evan Drumwright","orcid":null},"institutions":[{"id":"https://openalex.org/I193531525","display_name":"George Washington University","ror":"https://ror.org/00y4zzh67","country_code":"US","type":"education","lineage":["https://openalex.org/I193531525"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evan Drumwright","raw_affiliation_strings":["George Washington University, Washington, DC","Computer Science at George Washington University, DC, USA"],"affiliations":[{"raw_affiliation_string":"George Washington University, Washington, DC","institution_ids":["https://openalex.org/I193531525"]},{"raw_affiliation_string":"Computer Science at George Washington University, DC, USA","institution_ids":["https://openalex.org/I193531525"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5066733413"],"corresponding_institution_ids":["https://openalex.org/I193531525"],"apc_list":null,"apc_paid":null,"fwci":1.1983,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.77186256,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"121","issue":null,"first_page":"3266","last_page":"3271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9972000122070312,"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":0.9972000122070312,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.996399998664856,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9837999939918518,"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/inverse-dynamics","display_name":"Inverse dynamics","score":0.8526753187179565},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.799288272857666},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.599177360534668},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.598931074142456},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.591193437576294},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.5837457180023193},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5562338829040527},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5098559260368347},{"id":"https://openalex.org/keywords/quadratic-growth","display_name":"Quadratic growth","score":0.47998878359794617},{"id":"https://openalex.org/keywords/quadratically-constrained-quadratic-program","display_name":"Quadratically constrained quadratic program","score":0.4711757302284241},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45834729075431824},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4536747634410858},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.451946496963501},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32280486822128296},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27994999289512634},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21363627910614014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09668734669685364},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07233321666717529},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.06711611151695251},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.062355756759643555}],"concepts":[{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.8526753187179565},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.799288272857666},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.599177360534668},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.598931074142456},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.591193437576294},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.5837457180023193},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5562338829040527},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5098559260368347},{"id":"https://openalex.org/C195956108","wikidata":"https://www.wikidata.org/wiki/Q7268362","display_name":"Quadratic growth","level":2,"score":0.47998878359794617},{"id":"https://openalex.org/C65148998","wikidata":"https://www.wikidata.org/wiki/Q7268373","display_name":"Quadratically constrained quadratic program","level":3,"score":0.4711757302284241},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45834729075431824},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4536747634410858},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.451946496963501},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32280486822128296},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27994999289512634},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21363627910614014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09668734669685364},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07233321666717529},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.06711611151695251},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.062355756759643555},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6943016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943016","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":16,"referenced_works":["https://openalex.org/W2335533","https://openalex.org/W154144259","https://openalex.org/W584634945","https://openalex.org/W1602382704","https://openalex.org/W2000151369","https://openalex.org/W2080421646","https://openalex.org/W2085897137","https://openalex.org/W2102883217","https://openalex.org/W2141042553","https://openalex.org/W2141223672","https://openalex.org/W2152122625","https://openalex.org/W2163862895","https://openalex.org/W2296319761","https://openalex.org/W2948315098","https://openalex.org/W4250589301","https://openalex.org/W4301014524"],"related_works":["https://openalex.org/W2897697015","https://openalex.org/W3035921962","https://openalex.org/W2169350232","https://openalex.org/W2004392729","https://openalex.org/W2951903936","https://openalex.org/W2566013347","https://openalex.org/W4293088966","https://openalex.org/W2288577150","https://openalex.org/W2808715032","https://openalex.org/W3151409190"],"abstract_inverted_index":{"Inverse":[0],"dynamics":[1,13,26],"control":[2,8,27,91],"is":[3,81],"an":[4],"extremely":[5],"effective":[6],"nonlinear":[7],"strategy":[9],"if":[10],"the":[11,43],"inverse":[12,25],"computation":[14],"can":[15,32],"be":[16],"performed":[17],"with":[18,34],"sufficient":[19],"speed.We":[20],"describe":[21],"our":[22],"method":[23],"for":[24],"of":[28],"legged":[29],"robots":[30],"that":[31,78],"deal":[33],"both":[35],"sticking":[36],"and":[37,41,72,86],"slipping":[38],"frictional":[39],"contacts":[40],"mitigates":[42],"problems":[44],"introduced":[45],"by":[46],"indeterminate":[47],"rigid":[48],"body":[49],"contact.":[50],"We":[51,75],"improve":[52],"this":[53],"work,":[54],"which":[55],"previously":[56],"used":[57],"quadratically":[58],"constrained":[59],"quadratic":[60,66],"programs":[61,67],"(QCQPs),":[62],"to":[63],"use":[64],"faster-to-solve":[65],"via":[68],"linear":[69],"algebraic":[70],"simplifications":[71],"a":[73],"nullspace.":[74],"also":[76],"show":[77],"Lemke's":[79],"Algorithm":[80],"significantly":[82],"faster":[83],"than":[84],"alternatives":[85],"permits":[87],"multi-stage":[88],"optimizations":[89],"within":[90],"loops":[92],"running":[93],"as":[94,96],"fast":[95],"125Hz":[97],"on":[98],"commodity":[99],"hardware.":[100]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
