{"id":"https://openalex.org/W4225766702","doi":"https://doi.org/10.1109/lcsys.2022.3167795","title":"Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots","display_name":"Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4225766702","doi":"https://doi.org/10.1109/lcsys.2022.3167795"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2022.3167795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3167795","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-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/A5086258172","display_name":"Vinay R. Kamidi","orcid":null},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vinay R. Kamidi","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4227-6131","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004930845","display_name":"Jeeseop Kim","orcid":"https://orcid.org/0000-0003-4028-2359"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeeseop Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4028-2359","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013847154","display_name":"Randall T. Fawcett","orcid":"https://orcid.org/0000-0002-7704-2706"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Randall T. Fawcett","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7704-2706","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0848-3177","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066501467","display_name":"Kaveh Akbari Hamed","orcid":"https://orcid.org/0000-0001-9597-1691"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaveh Akbari Hamed","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9597-1691","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7863,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.64602335,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"6","issue":null,"first_page":"2509","last_page":"2514"},"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":0.9785000085830688,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9775999784469604,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/control-theory","display_name":"Control theory (sociology)","score":0.7300159335136414},{"id":"https://openalex.org/keywords/floquet-theory","display_name":"Floquet theory","score":0.6319257616996765},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5981510281562805},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5432296395301819},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.47321954369544983},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47150272130966187},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.45348235964775085},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4352720081806183},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4291483163833618},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31244397163391113},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2882211208343506},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10379993915557861},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09857961535453796},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09386339783668518},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08207815885543823}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7300159335136414},{"id":"https://openalex.org/C55649039","wikidata":"https://www.wikidata.org/wiki/Q902618","display_name":"Floquet theory","level":3,"score":0.6319257616996765},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5981510281562805},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5432296395301819},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.47321954369544983},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47150272130966187},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.45348235964775085},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4352720081806183},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4291483163833618},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31244397163391113},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2882211208343506},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10379993915557861},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09857961535453796},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09386339783668518},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08207815885543823},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lcsys.2022.3167795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3167795","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:authors.library.caltech.edu:115226","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/115226/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1958580113","display_name":"FW-HTF-P: Inspector Assistant Robot for Future Construction Progress Monitoring","funder_award_id":"2128948","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5703674627","display_name":"Collaborative Research: Intelligent and Agile Robotic Legged Locomotion in Complex Environments: From Planning to Safety and Robust Control","funder_award_id":"1923239","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G711322540","display_name":"Collaborative Research: Intelligent and Agile Robotic Legged Locomotion in Complex Environments: From Planning to Safety and Robust Control","funder_award_id":"1923216","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8567666433","display_name":"NRI: FND: COLLAB: Hierarchical Safe, and Distributed Feedback Control of Multiagent Legged Robots for Cooperative Locomotion and Manipulation","funder_award_id":"1924617","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W12218011","https://openalex.org/W613360614","https://openalex.org/W1661823234","https://openalex.org/W1788292158","https://openalex.org/W1986164962","https://openalex.org/W1989102040","https://openalex.org/W1993314711","https://openalex.org/W2022781970","https://openalex.org/W2024728784","https://openalex.org/W2030515455","https://openalex.org/W2048403822","https://openalex.org/W2065846434","https://openalex.org/W2082089015","https://openalex.org/W2092040619","https://openalex.org/W2112640448","https://openalex.org/W2128131727","https://openalex.org/W2143526512","https://openalex.org/W2164894752","https://openalex.org/W2171879251","https://openalex.org/W2312248419","https://openalex.org/W2516688848","https://openalex.org/W2569839618","https://openalex.org/W2604724024","https://openalex.org/W2617466750","https://openalex.org/W2779458783","https://openalex.org/W2792099719","https://openalex.org/W2807005556","https://openalex.org/W2909553221","https://openalex.org/W2954730031","https://openalex.org/W3012148556","https://openalex.org/W3102051120","https://openalex.org/W3110971147","https://openalex.org/W3113616534","https://openalex.org/W3130925245","https://openalex.org/W3138010110","https://openalex.org/W4206270822","https://openalex.org/W4240422548","https://openalex.org/W6738167437"],"related_works":["https://openalex.org/W1488175704","https://openalex.org/W4286849939","https://openalex.org/W2990905476","https://openalex.org/W3217258686","https://openalex.org/W4383815106","https://openalex.org/W4386135338","https://openalex.org/W2911825792","https://openalex.org/W3158508387","https://openalex.org/W4366605282","https://openalex.org/W2131815370"],"abstract_inverted_index":{"Quadratic":[0],"programming":[1],"(QP)-based":[2],"nonlinear":[3,25],"controllers":[4,26],"have":[5,143],"gained":[6],"increasing":[7],"popularity":[8],"in":[9,129],"the":[10,47,81,92,103,120,130,139,154],"legged":[11,37],"locomotion":[12,124],"community.":[13],"This":[14,135],"letter":[15,136],"presents":[16],"a":[17,28,43,52,116],"formal":[18],"foundation":[19],"to":[20,36,91],"systematically":[21],"decompose":[22],"QP-based":[23],"centralized":[24,82,155],"into":[27],"network":[29],"of":[30,59,80,87,102,132],"lower-dimensional":[31],"local":[32,48,60,88],"QPs,":[33],"with":[34,78,119],"application":[35],"locomotion.":[38],"The":[39,57,84,100],"proposed":[40,140],"approach":[41],"formulates":[42],"feedback":[44],"structure":[45],"between":[46],"QPs":[49,61,142],"and":[50,112,128,148],"assumes":[51],"one-step":[53],"communication":[54],"delay":[55],"protocol.":[56],"properties":[58],"are":[62],"analyzed,":[63],"wherein":[64],"it":[65],"is":[66,95,106],"established":[67],"that":[68,79,138],"their":[69],"steady-state":[70,93],"solutions":[71,90],"on":[72,115,125],"periodic":[73],"orbits":[74],"(representing":[75],"gaits)":[76],"coincide":[77],"QP.":[83,156],"asymptotic":[85],"convergence":[86],"QPs\u2019":[89],"solution":[94],"studied":[96],"via":[97],"Floquet":[98],"theory.":[99],"effectiveness":[101],"analytical":[104],"results":[105],"evaluated":[107],"through":[108],"rigorous":[109],"numerical":[110],"simulations":[111],"various":[113],"experiments":[114],"quadrupedal":[117],"robot,":[118],"result":[121],"being":[122],"robust":[123],"different":[126],"terrains":[127],"presence":[131],"external":[133],"disturbances.":[134],"shows":[137],"distributed":[141],"considerably":[144],"less":[145],"computation":[146],"time":[147],"reduced":[149],"noise":[150],"propagation":[151],"sensitivity":[152],"than":[153]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}
