{"id":"https://openalex.org/W4405787785","doi":"https://doi.org/10.1109/iros58592.2024.10801698","title":"On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion","display_name":"On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787785","doi":"https://doi.org/10.1109/iros58592.2024.10801698"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801698","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5090269671","display_name":"Giulio Turrisi","orcid":"https://orcid.org/0000-0003-3007-3553"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giulio Turrisi","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091705160","display_name":"Valerio Modugno","orcid":"https://orcid.org/0000-0002-5177-428X"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Valerio Modugno","raw_affiliation_strings":["University College London,Department of Computer Science,London,UK,WC1E 6BT"],"affiliations":[{"raw_affiliation_string":"University College London,Department of Computer Science,London,UK,WC1E 6BT","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080191249","display_name":"Lorenzo Amatucci","orcid":"https://orcid.org/0009-0006-6764-8102"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Amatucci","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048122691","display_name":"Dimitrios Kanoulas","orcid":"https://orcid.org/0000-0002-3684-1472"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dimitrios Kanoulas","raw_affiliation_strings":["University College London,Department of Computer Science,London,UK,WC1E 6BT"],"affiliations":[{"raw_affiliation_string":"University College London,Department of Computer Science,London,UK,WC1E 6BT","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010033061","display_name":"Claudio Semini","orcid":"https://orcid.org/0000-0002-3034-4686"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Semini","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Laboratory,Genova,Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5090269671"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.6462,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.83654956,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"13757","last_page":"13764"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9779000282287598,"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/T11236","display_name":"Control Systems and Identification","score":0.934499979019165,"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/computer-science","display_name":"Computer science","score":0.709553599357605},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.5359588265419006},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.45681676268577576},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24460628628730774},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15535035729408264}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.709553599357605},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.5359588265419006},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.45681676268577576},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24460628628730774},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15535035729408264},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801698","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":28,"referenced_works":["https://openalex.org/W2013439434","https://openalex.org/W2158782408","https://openalex.org/W2771691050","https://openalex.org/W2782667761","https://openalex.org/W2788030459","https://openalex.org/W2793991136","https://openalex.org/W2909331752","https://openalex.org/W2913322202","https://openalex.org/W2963238245","https://openalex.org/W3109424835","https://openalex.org/W3120439403","https://openalex.org/W3155272911","https://openalex.org/W3205566932","https://openalex.org/W3206363916","https://openalex.org/W3207305612","https://openalex.org/W4285102312","https://openalex.org/W4312574175","https://openalex.org/W4313197141","https://openalex.org/W4378696928","https://openalex.org/W4383097364","https://openalex.org/W4389961089","https://openalex.org/W4390481194","https://openalex.org/W4401415792","https://openalex.org/W6640290305","https://openalex.org/W6674872077","https://openalex.org/W6765121789","https://openalex.org/W6847252870","https://openalex.org/W6857202355"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2390279801","https://openalex.org/W2101188133","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345"],"abstract_inverted_index":{"Quadrupedal":[0],"robots":[1,102],"excel":[2],"in":[3,68,81,118,156],"mobility,":[4],"navigating":[5],"complex":[6,12],"terrains":[7],"with":[8,134],"agility.":[9],"However,":[10],"their":[11,174],"control":[13,35,46],"systems":[14],"present":[15],"challenges":[16],"that":[17,50,128,168],"are":[18],"still":[19],"far":[20],"from":[21],"being":[22],"fully":[23],"addressed.":[24],"In":[25,66],"this":[26,69],"paper,":[27],"we":[28,71,95],"introduce":[29],"the":[30,89,142,163],"use":[31],"of":[32,91],"Sample-Based":[33,51,92],"Stochastic":[34,52,93],"strategies":[36],"for":[37,84,100],"quadrupedal":[38,82,101],"robots,":[39],"as":[40],"an":[41],"alternative":[42],"to":[43,62,146,162,171],"traditional":[44,136],"optimal":[45],"laws.":[47],"We":[48],"show":[49],"methods,":[53],"supported":[54],"by":[55],"GPU":[56],"acceleration,":[57],"can":[58],"be":[59],"effectively":[60],"applied":[61],"real":[63,123],"quadruped":[64],"robots.":[65],"particular,":[67],"work,":[70],"focus":[72],"on":[73,121,132],"achieving":[74],"gait":[75,165],"frequency":[76],"adaptation,":[77],"a":[78,107,122,135],"notable":[79],"challenge":[80],"locomotion":[83],"gradient-based":[85,154],"methods.":[86],"To":[87],"validate":[88],"effectiveness":[90],"controllers":[94],"test":[96],"two":[97],"distinct":[98],"approaches":[99],"and":[103,120],"compare":[104],"them":[105],"against":[106],"conventional":[108],"gradientbased":[109],"Model":[110,137],"Predictive":[111,138],"Control":[112,139],"system.":[113],"Our":[114],"findings,":[115],"validated":[116],"both":[117],"simulation":[119],"21Kg":[124],"Aliengo":[125],"quadruped,":[126],"demonstrate":[127],"our":[129],"method":[130],"is":[131,144,169],"par":[133],"strategy":[140,167],"when":[141],"robot":[143],"subject":[145],"zero":[147],"or":[148],"moderate":[149],"disturbance,":[150],"while":[151],"it":[152],"surpasses":[153],"methods":[155],"handling":[157],"sustained":[158],"external":[159],"disturbances,":[160],"thanks":[161],"straightforward":[164],"adaptation":[166],"possible":[170],"achieve":[172],"within":[173],"formulation.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}