{"id":"https://openalex.org/W2909331752","doi":"https://doi.org/10.1109/iros.2018.8594448","title":"Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control","display_name":"Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909331752","doi":"https://doi.org/10.1109/iros.2018.8594448","mag":"2909331752"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594448","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://hdl.handle.net/1721.1/138000","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022427888","display_name":"Jared Di Carlo","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jared Di Carlo","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science at the Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science at the Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029126529","display_name":"Patrick M. Wensing","orcid":"https://orcid.org/0000-0002-9041-5175"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Patrick M. Wensing","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering at the University of Notre Dame"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering at the University of Notre Dame","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087575963","display_name":"Benjamin Katz","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Katz","raw_affiliation_strings":["Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012676705","display_name":"Gerardo Bledt","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gerardo Bledt","raw_affiliation_strings":["Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":733,"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":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9973999857902527,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9836999773979187,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/ground-reaction-force","display_name":"Ground reaction force","score":0.7001877427101135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6951330900192261},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6616244316101074},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6379806399345398},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.632514476776123},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.552984356880188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5271021127700806},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4733414947986603},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4387401044368744},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4042510986328125},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3048555254936218},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2974364757537842},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2547909915447235},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24651601910591125},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.17825853824615479},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14575764536857605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12625378370285034}],"concepts":[{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.7001877427101135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6951330900192261},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6616244316101074},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6379806399345398},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.632514476776123},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.552984356880188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5271021127700806},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4733414947986603},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4387401044368744},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4042510986328125},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3048555254936218},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2974364757537842},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2547909915447235},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24651601910591125},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.17825853824615479},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14575764536857605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12625378370285034},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2018.8594448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594448","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:dspace.mit.edu:1721.1/138000","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/138000","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Other repository","raw_type":"Article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/138000.2","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/138000.2","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Other repository","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/138000","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/138000","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Other repository","raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1596218917","https://openalex.org/W1980487315","https://openalex.org/W1983864916","https://openalex.org/W2013439434","https://openalex.org/W2025443754","https://openalex.org/W2055187690","https://openalex.org/W2073026493","https://openalex.org/W2087617385","https://openalex.org/W2113647903","https://openalex.org/W2116773335","https://openalex.org/W2129516068","https://openalex.org/W2153190828","https://openalex.org/W2161427949","https://openalex.org/W2164288353","https://openalex.org/W2170199376","https://openalex.org/W2198582666","https://openalex.org/W2294151168","https://openalex.org/W2470094176","https://openalex.org/W2573227850","https://openalex.org/W2593412525","https://openalex.org/W2618245409","https://openalex.org/W2751616839","https://openalex.org/W2771123153","https://openalex.org/W2771691050","https://openalex.org/W2788030459","https://openalex.org/W2889693550","https://openalex.org/W4250589301","https://openalex.org/W6684180196"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2060165215","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2042469328","https://openalex.org/W2384015130","https://openalex.org/W2109413986","https://openalex.org/W2295597290"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"implementation":[4],"of":[5,39,56,73,85,91,97,119,151],"model":[6],"predictive":[7],"control":[8,96],"(MPC)":[9],"to":[10,25,58,64,121,127,134,142],"determine":[11],"ground":[12,46],"reaction":[13,47],"forces":[14],"for":[15,53],"a":[16,71,78,89,106,110],"torque-controlled":[17],"quadruped":[18],"robot.":[19],"The":[20,114],"robot":[21,82,115],"dynamics":[22],"are":[23,51,62],"simplified":[24,44,79],"formulate":[26],"the":[27,35,40,43,81,148],"problem":[28],"as":[29],"convex":[30],"optimization":[31],"while":[32],"still":[33],"capturing":[34],"full":[36,111],"3D":[37,112],"nature":[38],"system.":[41],"With":[42],"model,":[45,80],"force":[48],"planning":[49],"problems":[50],"formulated":[52],"prediction":[54],"horizons":[55],"up":[57,120,126,133],"0.5":[59],"seconds,":[60],"and":[61,109,130,153],"solved":[63],"optimality":[65],"in":[66],"under":[67],"1":[68,128],"ms":[69],"at":[70,88],"rate":[72],"20-30":[74],"Hz.":[75],"Despite":[76],"using":[77],"is":[83,139],"capable":[84],"robust":[86],"locomotion":[87],"variety":[90],"speeds.":[92],"Experimental":[93],"results":[94],"demonstrate":[95],"gaits":[98],"including":[99],"stand,":[100],"trot,":[101],"flying-trot,":[102],"pronk,":[103],"bound,":[104],"pace,":[105],"3-legged":[107],"gait,":[108],"gallop.":[113],"achieved":[116],"forward":[117],"speeds":[118,125,132],"3":[122],"m/s,":[123,129],"lateral":[124],"angular":[131],"180":[135],"deg/sec.":[136],"Our":[137],"approach":[138],"general":[140],"enough":[141],"perform":[143],"all":[144],"these":[145],"behaviors":[146],"with":[147],"same":[149],"set":[150],"gains":[152],"weights.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":36},{"year":2025,"cited_by_count":146},{"year":2024,"cited_by_count":139},{"year":2023,"cited_by_count":152},{"year":2022,"cited_by_count":95},{"year":2021,"cited_by_count":92},{"year":2020,"cited_by_count":51},{"year":2019,"cited_by_count":21},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}
