{"id":"https://openalex.org/W2798298712","doi":"https://doi.org/10.1109/lra.2018.2836441","title":"Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots","display_name":"Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots","publication_year":2018,"publication_date":"2018-05-15","ids":{"openalex":"https://openalex.org/W2798298712","doi":"https://doi.org/10.1109/lra.2018.2836441","mag":"2798298712"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2836441","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2836441","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1712.06833","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082437931","display_name":"Romeo Orsolino","orcid":"https://orcid.org/0000-0001-9847-2601"},"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":"Romeo Orsolino","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Istituto Italiano di Tecnologia"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070148842","display_name":"Michele Focchi","orcid":"https://orcid.org/0000-0002-4888-5595"},"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":"Michele Focchi","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Istituto Italiano di Tecnologia"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032652050","display_name":"Carlos Mastalli","orcid":"https://orcid.org/0000-0002-0725-4279"},"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":"Carlos Mastalli","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes","Istituto Italiano di Tecnologia"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes","institution_ids":[]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039615570","display_name":"Hongkai Dai","orcid":"https://orcid.org/0000-0002-6131-3620"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]},{"id":"https://openalex.org/I917207718","display_name":"Toyota Industries (United States)","ror":"https://ror.org/0132ebr60","country_code":"US","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210145315","https://openalex.org/I917207718"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongkai Dai","raw_affiliation_strings":["Toyota Research Institute, Los Altos, CA, USA","Toyota Research Institute"],"affiliations":[{"raw_affiliation_string":"Toyota Research Institute, Los Altos, CA, USA","institution_ids":["https://openalex.org/I917207718","https://openalex.org/I4391768151"]},{"raw_affiliation_string":"Toyota Research Institute","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"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":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Istituto Italiano di Tecnologia"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]}]},{"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":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Istituto Italiano di Tecnologia"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5082437931"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":3.3409,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.92588094,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"3","issue":"4","first_page":"3363","last_page":"3370"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/wrench","display_name":"Wrench","score":0.9438949823379517},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7166579961776733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.653480052947998},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5318973064422607},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.44719198346138},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3127300441265106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29524660110473633},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10324037075042725},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.053327471017837524}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.9438949823379517},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7166579961776733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.653480052947998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5318973064422607},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.44719198346138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3127300441265106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29524660110473633},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10324037075042725},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.053327471017837524},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2018.2836441","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2836441","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1712.06833","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1712.06833","pdf_url":"https://arxiv.org/pdf/1712.06833","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-02086079v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02086079","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE Robotics and Automation Letters, 2018, 3 (4), pp.3363-3370. &#x27E8;10.1109/LRA.2018.2836441&#x27E9;","raw_type":"Journal articles"},{"id":"pmh:oai:iris.unitn.it:11572/364908","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/document/8358969/authors#authors","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"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":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1712.06833","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1712.06833","pdf_url":"https://arxiv.org/pdf/1712.06833","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320325847","display_name":"Istituto Italiano di Tecnologia","ror":"https://ror.org/042t93s57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1525008876","https://openalex.org/W1964518394","https://openalex.org/W2064878003","https://openalex.org/W2104479525","https://openalex.org/W2111904757","https://openalex.org/W2143729862","https://openalex.org/W2152916401","https://openalex.org/W2158050076","https://openalex.org/W2167587950","https://openalex.org/W2181243618","https://openalex.org/W2199904337","https://openalex.org/W2275744966","https://openalex.org/W2283655042","https://openalex.org/W2410441310","https://openalex.org/W2470094176","https://openalex.org/W2569324215","https://openalex.org/W2592711882","https://openalex.org/W2593388699","https://openalex.org/W2602211129","https://openalex.org/W2618245409","https://openalex.org/W2736258566","https://openalex.org/W2738799195","https://openalex.org/W2765933998","https://openalex.org/W2772217408","https://openalex.org/W2772886298","https://openalex.org/W2774366155","https://openalex.org/W2789019778","https://openalex.org/W2964280148","https://openalex.org/W3102715624","https://openalex.org/W3124338670","https://openalex.org/W4300806834","https://openalex.org/W6746492877","https://openalex.org/W6959868276"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2361427670"],"abstract_inverted_index":{"Motion":[0],"planning":[1],"in":[2,137],"multicontact":[3],"scenarios":[4],"has":[5],"recently":[6],"gathered":[7],"interest":[8],"within":[9],"the":[10,30,33,45,58,64,73,77,91,96,116,120,124,130,134,141,151,161,171,174,189],"legged":[11],"robotics":[12],"community,":[13],"however":[14],"actuator":[15],"force/torque":[16],"limits":[17,25],"are":[18,229],"rarely":[19],"considered.":[20],"We":[21,39,69,165],"believe":[22],"that":[23,79,95,176,185,221,228],"these":[24],"gain":[26],"paramount":[27],"importance":[28],"when":[29],"complexity":[31],"of":[32,47,75,115,129,133,150,173,191,212,225],"terrains":[34],"to":[35,50,146,168,180,197,201,231],"be":[36,147,232],"traversed":[37],"increases.":[38],"build":[40],"on":[41,206],"previous":[42],"research":[43],"from":[44,188],"field":[46,190],"robotic":[48,192],"grasping":[49],"propose":[51],"two":[52],"new":[53],"six-dimensional":[54],"bounded":[55],"polytopes":[56],"named":[57],"Actuation":[59],"Wrench":[60,66,109],"Polytope":[61,67],"(AWP)":[62],"and":[63,104,132,235],"Feasible":[65],"(FWP).":[68],"define":[70],"theAWP":[71],"as":[72,119],"set":[74],"all":[76],"wrenches":[78],"a":[80,138,182,213],"robot":[81,97,153,219],"can":[82,98],"generate":[83,99],"while":[84,159],"considering":[85],"its":[86,101],"actuation":[87,105],"limits.":[88],"This":[89,194],"considers":[90],"admissible":[92],"contact":[93,121],"forces":[94],"given":[100],"current":[102],"configuration":[103],"capabilities.":[106],"The":[107,127],"Contact":[108],"Cone":[110],"(CWC)":[111],"instead":[112],"includes":[113],"features":[114],"environment":[117],"such":[118],"normal":[122],"or":[123],"friction":[125],"coefficient.":[126],"intersection":[128],"AWP":[131],"CWC":[135],"results":[136],"convex":[139],"polytope,":[140],"FWP,":[142],"which":[143],"turns":[144],"out":[145],"more":[148],"descriptive":[149],"real":[152],"capabilities":[154],"than":[155],"existing":[156],"simplified":[157],"models,":[158],"maintaining":[160],"same":[162],"compact":[163],"representation.":[164],"explain":[166],"how":[167],"efficiently":[169],"compute":[170],"vertex-description":[172],"FWP":[175],"is":[177],"then":[178],"used":[179],"evaluate":[181],"feasibility":[183],"factor":[184],"we":[186,208],"adapted":[187],"grasping.":[193],"allows":[195],"us":[196],"optimize":[198],"for":[199,216],"robustness":[200],"external":[202],"disturbance":[203],"wrenches.":[204],"Based":[205],"this,":[207],"present":[209],"an":[210],"implementation":[211],"motion":[214],"planner":[215],"our":[217],"quadruped":[218],"HyQ":[220],"provides":[222],"online":[223],"Center":[224],"Mass":[226],"trajectories":[227],"guaranteed":[230],"statically":[233],"stable":[234],"actuation-consistent.":[236]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
