{"id":"https://openalex.org/W4416750197","doi":"https://doi.org/10.1109/iros60139.2025.11245973","title":"Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion","display_name":"Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750197","doi":"https://doi.org/10.1109/iros60139.2025.11245973"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245973","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245973","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101607184","display_name":"Yicheng Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yicheng Zeng","raw_affiliation_strings":["University of Wisconsin-Madison,Wisconsin Expeditious LeggedAI Laboratory (WELLLab)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Wisconsin Expeditious LeggedAI Laboratory (WELLLab)","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048929464","display_name":"Yuhao Huang","orcid":"https://orcid.org/0000-0002-9334-2055"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuhao Huang","raw_affiliation_strings":["University of Wisconsin-Madison,Wisconsin Expeditious LeggedAI Laboratory (WELLLab)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Wisconsin Expeditious LeggedAI Laboratory (WELLLab)","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088490455","display_name":"Xiaobin Xiong","orcid":"https://orcid.org/0000-0002-6275-3900"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaobin Xiong","raw_affiliation_strings":["University of Wisconsin-Madison,Wisconsin Expeditious LeggedAI Laboratory (WELLLab)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Wisconsin Expeditious LeggedAI Laboratory (WELLLab)","institution_ids":["https://openalex.org/I135310074"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135310074"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4876799,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3760","last_page":"3766"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.8269000053405762,"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":0.8269000053405762,"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":0.023000000044703484,"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/T12290","display_name":"Human Motion and Animation","score":0.0210999995470047,"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/trajectory","display_name":"Trajectory","score":0.7885000109672546},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6446999907493591},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.640500009059906},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6157000064849854},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5519000291824341},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.5133000016212463},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4153999984264374}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7885000109672546},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6446999907493591},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.640500009059906},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6157000064849854},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5519000291824341},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5430999994277954},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.5133000016212463},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48489999771118164},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4153999984264374},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36010000109672546},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35989999771118164},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33160001039505005},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3305000066757202},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.32749998569488525},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3107999861240387},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3059000074863434},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2955000102519989},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.2745000123977661},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.26930001378059387},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.25769999623298645}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245973","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245973","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":35,"referenced_works":["https://openalex.org/W1578294898","https://openalex.org/W1973734421","https://openalex.org/W1983313164","https://openalex.org/W2161427949","https://openalex.org/W2171879251","https://openalex.org/W2414767203","https://openalex.org/W2769646558","https://openalex.org/W2901402208","https://openalex.org/W2909553221","https://openalex.org/W2952672134","https://openalex.org/W2963945659","https://openalex.org/W2967875632","https://openalex.org/W2979207987","https://openalex.org/W3002782398","https://openalex.org/W3009888867","https://openalex.org/W3046539130","https://openalex.org/W3048347864","https://openalex.org/W3124944733","https://openalex.org/W4252838624","https://openalex.org/W4285269704","https://openalex.org/W4308875266","https://openalex.org/W4313549808","https://openalex.org/W4321380998","https://openalex.org/W4383066561","https://openalex.org/W4383108961","https://openalex.org/W4387682164","https://openalex.org/W4389665867","https://openalex.org/W4399469378","https://openalex.org/W4401415240","https://openalex.org/W4401416465","https://openalex.org/W4401417328","https://openalex.org/W4403510626","https://openalex.org/W4403741606","https://openalex.org/W4405785545","https://openalex.org/W4405787095"],"related_works":[],"abstract_inverted_index":{"State-of-the-art":[0],"model-based":[1,86],"control":[2],"designs":[3],"have":[4],"been":[5,37],"shown":[6],"to":[7,55,69,138,156,158],"be":[8],"successful":[9],"in":[10,24,145],"realizing":[11],"dynamic":[12],"locomotion":[13,27],"behaviors":[14,23,144],"for":[15,162],"robotic":[16,160],"systems.":[17],"The":[18,88],"precision":[19],"of":[20,26,83],"the":[21,41,44,47,71,84,92,97,100,105,114,121,126,135],"realized":[22,101,122],"terms":[25],"performance":[28,163],"via":[29,165],"fly,":[30],"hopping,":[31],"or":[32],"walking":[33],"has":[34],"not":[35],"yet":[36],"well":[38],"investigated,":[39],"despite":[40],"fact":[42],"that":[43,120],"difference":[45],"between":[46],"robot":[48,136],"model":[49,80,90],"and":[50,99,142,148],"physical":[51],"hardware":[52],"is":[53,154],"doomed":[54],"produce":[56],"inaccurate":[57],"trajectory":[58,103,167],"tracking.":[59,168],"To":[60],"address":[61],"this":[62],"inaccuracy,":[63],"we":[64,112],"propose":[65],"a":[66,76],"referencing-steering":[67],"method":[68,133],"bridge":[70],"model-to-real":[72],"gap":[73],"by":[74],"establishing":[75],"data-driven":[77,109,151],"input-output":[78],"(DD-IO)":[79],"on":[81,134],"top":[82],"existing":[85],"design.":[87],"DD-IO":[89],"takes":[91],"reference":[93,115],"tracking":[94,102],"trajectories":[95,117],"as":[96,104],"input":[98,116],"output.":[106],"By":[107],"utilizing":[108],"predictive":[110],"control,":[111],"steer":[113],"online":[118],"so":[119],"output":[123],"ones":[124],"match":[125],"actual":[127],"desired":[128],"ones.":[129],"We":[130],"demonstrate":[131],"our":[132],"PogoX":[137],"realize":[139],"hyper-accurate":[140,166],"hopping":[141],"flying":[143],"both":[146],"simulation":[147],"hardware.":[149],"This":[150],"reference-steering":[152],"approach":[153],"straightforward":[155],"apply":[157],"general":[159],"systems":[161],"improvement":[164]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}