{"id":"https://openalex.org/W2896564217","doi":"https://doi.org/10.1109/iros.2018.8594309","title":"An Improved Formulation for Model Predictive Control of Legged Robots for Gait Planning and Feedback Control","display_name":"An Improved Formulation for Model Predictive Control of Legged Robots for Gait Planning and Feedback Control","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2896564217","doi":"https://doi.org/10.1109/iros.2018.8594309","mag":"2896564217"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594309","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/files/70006898/An_Improved_Formulation_for_Model_Predictive_Control_of_Legged.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006409524","display_name":"Kai Yuan","orcid":"https://orcid.org/0000-0002-2349-4192"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kai Yuan","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9955999851226807,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8153086304664612},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.63004469871521},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6216039657592773},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5882852077484131},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5781430006027222},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5257514119148254},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.5168400406837463},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43428370356559753},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41272246837615967},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24825948476791382},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21562451124191284},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.18405693769454956}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8153086304664612},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.63004469871521},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6216039657592773},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5882852077484131},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5781430006027222},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5257514119148254},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.5168400406837463},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43428370356559753},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41272246837615967},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24825948476791382},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21562451124191284},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.18405693769454956},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2018.8594309","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/19956172-84f8-4107-90cc-30aa87c898d2","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/19956172-84f8-4107-90cc-30aa87c898d2","pdf_url":"https://www.research.ed.ac.uk/files/70006898/An_Improved_Formulation_for_Model_Predictive_Control_of_Legged.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Yuan, K & Li, Z 2019, An Improved Formulation for Model Predictive Control of Legged Robots for Gait Planning and Feedback Control. in Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, Madrid, Spain, pp. 8535-8542, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8594309","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/19956172-84f8-4107-90cc-30aa87c898d2","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/8594309","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/19956172-84f8-4107-90cc-30aa87c898d2","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/19956172-84f8-4107-90cc-30aa87c898d2","pdf_url":"https://www.research.ed.ac.uk/files/70006898/An_Improved_Formulation_for_Model_Predictive_Control_of_Legged.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Yuan, K & Li, Z 2019, An Improved Formulation for Model Predictive Control of Legged Robots for Gait Planning and Feedback Control. in Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, Madrid, Spain, pp. 8535-8542, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8594309","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2838024195","display_name":"UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management","funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3041203688","display_name":null,"funder_award_id":"EP/R026092","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4483049737","display_name":null,"funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334245","funder_display_name":"Offshore Robotics for Certification of Assets"},{"id":"https://openalex.org/G8572172379","display_name":"Future AI and Robotics Hub for Space (FAIR-SPACE)","funder_award_id":"EP/R026092/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8602921712","display_name":null,"funder_award_id":"EP/R026173","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334245","display_name":"Offshore Robotics for Certification of Assets","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2896564217.pdf","grobid_xml":"https://content.openalex.org/works/W2896564217.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1431354335","https://openalex.org/W1945123189","https://openalex.org/W1969752069","https://openalex.org/W1978956894","https://openalex.org/W1980160418","https://openalex.org/W1994275787","https://openalex.org/W2037729465","https://openalex.org/W2051561438","https://openalex.org/W2056223738","https://openalex.org/W2074042377","https://openalex.org/W2079179322","https://openalex.org/W2099129715","https://openalex.org/W2133859362","https://openalex.org/W2143982885","https://openalex.org/W2149046449","https://openalex.org/W2151182239","https://openalex.org/W2153190828","https://openalex.org/W2199168279","https://openalex.org/W2228102949","https://openalex.org/W2411798942","https://openalex.org/W2522795812","https://openalex.org/W2739146943","https://openalex.org/W3145941942","https://openalex.org/W6642513403","https://openalex.org/W6670143203","https://openalex.org/W6726985525"],"related_works":["https://openalex.org/W194830993","https://openalex.org/W2358702035","https://openalex.org/W2369079118","https://openalex.org/W2391551851","https://openalex.org/W4310971547","https://openalex.org/W1975295567","https://openalex.org/W4297153996","https://openalex.org/W3168774805","https://openalex.org/W2060840669","https://openalex.org/W2137743893"],"abstract_inverted_index":{"Predictive":[0,53],"control":[1,78],"methods":[2,35],"for":[3,18,40,72,90],"walking":[4],"commonly":[5],"use":[6],"low":[7],"dimensional":[8],"models,":[9],"such":[10],"as":[11],"a":[12,64],"Linear":[13],"Inverted":[14],"Pendulum":[15],"Model":[16,52],"(LIPM),":[17],"simplifying":[19],"the":[20,29,33,46,86,95,106,111,125],"complex":[21],"dynamics":[22],"of":[23,32,48,51,116,124],"legged":[24],"robots.":[25],"This":[26],"paper":[27],"identifies":[28],"physical":[30],"limitations":[31],"modeling":[34,66],"that":[36,68],"do":[37],"not":[38],"account":[39],"external":[41],"disturbances,":[42],"and":[43,76,94,119,132],"then":[44],"analyzes":[45],"issues":[47],"numerical":[49,88,117],"stability":[50,89,118],"Control":[54],"(MPC)using":[55],"different":[56],"models":[57],"with":[58,110],"variable":[59],"receding":[60],"horizons.":[61],"We":[62],"propose":[63],"new":[65],"formulation":[67],"can":[69],"be":[70],"used":[71],"both":[73,130],"gait":[74],"planning":[75],"feedback":[77],"in":[79,114,129],"an":[80],"MPC":[81,108],"scheme.":[82],"The":[83,122],"advantages":[84],"are":[85],"improved":[87],"long":[91],"prediction":[92],"horizons":[93],"robustness":[96],"against":[97],"various":[98],"disturbances.":[99],"Benchmarks":[100],"were":[101],"rigorously":[102],"studied":[103],"to":[104],"compare":[105],"proposed":[107],"scheme":[109],"existing":[112],"ones":[113],"terms":[115],"disturbance":[120],"rejection.":[121],"effectiveness":[123],"controller":[126],"is":[127],"demonstrated":[128],"MATLAB":[131],"Gazebo":[133],"simulations.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
