{"id":"https://openalex.org/W2913792742","doi":"https://doi.org/10.1109/lra.2019.2896721","title":"Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints","display_name":"Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints","publication_year":2019,"publication_date":"2019-01-31","ids":{"openalex":"https://openalex.org/W2913792742","doi":"https://doi.org/10.1109/lra.2019.2896721","mag":"2913792742"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2896721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2896721","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":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/271838","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063667437","display_name":"Yvain de Viragh","orcid":"https://orcid.org/0000-0002-2854-5171"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Yvain de Viragh","raw_affiliation_strings":["Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2854-5171","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020694820","display_name":"Marko Bjelonic","orcid":"https://orcid.org/0000-0002-9123-3920"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marko Bjelonic","raw_affiliation_strings":["Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-9123-3920","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000837610","display_name":"C. Dario Bellicoso","orcid":"https://orcid.org/0000-0003-3856-0735"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"C. Dario Bellicoso","raw_affiliation_strings":["Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3856-0735","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052487495","display_name":"Fabian Jenelten","orcid":"https://orcid.org/0000-0003-1851-2875"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fabian Jenelten","raw_affiliation_strings":["Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-1851-2875","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4285-4990","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":4.1975,"has_fulltext":false,"cited_by_count":106,"citation_normalized_percentile":{"value":0.95102017,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"4","issue":"2","first_page":"1633","last_page":"1640"},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9898999929428101,"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":0.7713384628295898},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7244683504104614},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6756302118301392},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5915423631668091},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5471058487892151},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4540671706199646},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43704456090927124},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.41801559925079346},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.41707324981689453},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3582916855812073},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29315900802612305},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.16179290413856506},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14868596196174622},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14578759670257568},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08059757947921753},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05634605884552002}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7713384628295898},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7244683504104614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6756302118301392},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5915423631668091},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5471058487892151},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4540671706199646},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43704456090927124},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.41801559925079346},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.41707324981689453},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3582916855812073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29315900802612305},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.16179290413856506},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14868596196174622},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14578759670257568},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08059757947921753},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05634605884552002},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2019.2896721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2896721","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:infoscience.epfl.ch:271838","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/271838","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/320068","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/320068","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"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, 4 (2)","raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.3929/ethz-b-000320068","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000320068","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Other"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:271838","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/271838","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1592294156","https://openalex.org/W2027018386","https://openalex.org/W2037729465","https://openalex.org/W2114915733","https://openalex.org/W2121985869","https://openalex.org/W2127763473","https://openalex.org/W2161427949","https://openalex.org/W2169673025","https://openalex.org/W2169754477","https://openalex.org/W2296360731","https://openalex.org/W2419326772","https://openalex.org/W2423857766","https://openalex.org/W2529695652","https://openalex.org/W2571115941","https://openalex.org/W2583155113","https://openalex.org/W2618245409","https://openalex.org/W2744484133","https://openalex.org/W2764255492","https://openalex.org/W2769646558","https://openalex.org/W2771123153","https://openalex.org/W2775361709","https://openalex.org/W2788030459","https://openalex.org/W2793991136","https://openalex.org/W2811027829","https://openalex.org/W2949209865","https://openalex.org/W2950546634","https://openalex.org/W2963190023","https://openalex.org/W3099083868","https://openalex.org/W3099855898","https://openalex.org/W3101175487","https://openalex.org/W3101817006","https://openalex.org/W3102734218","https://openalex.org/W6745805511"],"related_works":["https://openalex.org/W2026275902","https://openalex.org/W4206704743","https://openalex.org/W4313119266","https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2164807043","https://openalex.org/W2015393961","https://openalex.org/W2019128690"],"abstract_inverted_index":{"We":[0,81],"present":[1],"a":[2,26,32],"trajectory":[3,103],"optimizer":[4,104],"for":[5,13,52,58,70,125],"quadrupedal":[6,89,127],"robots":[7,128],"with":[8,93],"actuated":[9],"wheels.":[10],"By":[11],"solving":[12],"angular,":[14],"vertical,":[15],"and":[16,22,29,79],"planar":[17],"components":[18],"of":[19,36,87,111],"the":[20,37,50,88,101,109,116],"base":[21],"feet":[23],"trajectories":[24,69],"in":[25,85],"cascaded":[27],"fashion":[28],"by":[30],"introducing":[31],"novel":[33],"linear":[34],"formulation":[35],"zeromoment":[38],"point":[39],"balance":[40],"criterion,":[41],"we":[42,64,96],"rely":[43],"on":[44],"quadratic":[45],"programming":[46],"only,":[47],"thereby":[48],"eliminating":[49],"need":[51],"nonlinear":[53],"optimization":[54],"routines.":[55],"Yet,":[56],"even":[57],"gaits":[59],"containing":[60],"full":[61],"flight":[62],"phases,":[63],"are":[65,97,123],"able":[66,98],"to":[67,99],"generate":[68],"executing":[71],"complex":[72],"motions":[73,122],"that":[74,119],"involve":[75],"simultaneous":[76],"driving,":[77],"walking,":[78],"turning.":[80],"verified":[82],"our":[83,112],"approach":[84],"simulations":[86],"robot":[90],"ANYmal":[91],"equipped":[92],"wheels,":[94],"where":[95],"run":[100],"proposed":[102],"at":[105],"50":[106],"Hz.":[107],"To":[108],"best":[110],"knowledge,":[113],"this":[114],"is":[115],"first":[117],"time":[118],"such":[120],"dynamic":[121],"demonstrated":[124],"wheeled-legged":[126],"using":[129],"an":[130],"online":[131],"motion":[132],"planner.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":22},{"year":2019,"cited_by_count":7}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
