{"id":"https://openalex.org/W3016409124","doi":"https://doi.org/10.1109/lra.2020.3001471","title":"Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints","display_name":"Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints","publication_year":2020,"publication_date":"2020-06-10","ids":{"openalex":"https://openalex.org/W3016409124","doi":"https://doi.org/10.1109/lra.2020.3001471","mag":"3016409124"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3001471","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3001471","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2004.06858","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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, USA","Virginia Tech"],"raw_orcid":"https://orcid.org/0000-0001-9597-1691","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, USA","institution_ids":["https://openalex.org/I859038795"]},{"raw_affiliation_string":"Virginia Tech","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, USA","Virginia Tech"],"raw_orcid":"https://orcid.org/0000-0003-4028-2359","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, USA","institution_ids":["https://openalex.org/I859038795"]},{"raw_affiliation_string":"Virginia Tech","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011505005","display_name":"Abhishek Pandala","orcid":"https://orcid.org/0000-0002-7424-5508"},"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":"Abhishek Pandala","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, USA","Virginia Tech"],"raw_orcid":"https://orcid.org/0000-0002-7424-5508","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, USA","institution_ids":["https://openalex.org/I859038795"]},{"raw_affiliation_string":"Virginia Tech","institution_ids":["https://openalex.org/I859038795"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I859038795"],"apc_list":null,"apc_paid":null,"fwci":0.0737,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.3240243,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"5","issue":"3","first_page":"4463","last_page":"4470"},"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":0.9973000288009644,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9940999746322632,"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/model-predictive-control","display_name":"Model predictive control","score":0.7679042816162109},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7229856252670288},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.679969072341919},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5133208632469177},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5050473809242249},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.49726298451423645},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4821174144744873},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45460599660873413},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2489146590232849},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22484248876571655},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22042682766914368},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11594605445861816}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7679042816162109},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7229856252670288},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.679969072341919},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5133208632469177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5050473809242249},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.49726298451423645},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4821174144744873},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45460599660873413},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2489146590232849},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22484248876571655},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22042682766914368},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11594605445861816},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2020.3001471","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3001471","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:2004.06858","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2004.06858","pdf_url":"https://arxiv.org/pdf/2004.06858","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"mag:3016409124","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2004.06858","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2004.06858","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2004.06858","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2004.06858","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2004.06858","pdf_url":"https://arxiv.org/pdf/2004.06858","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7799999713897705}],"awards":[{"id":"https://openalex.org/G3065692435","display_name":"NRI: Decentralized Feedback Control Design for Cooperative Robotic Walking with Application to Powered Prosthetic Legs","funder_award_id":"1854898","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"},{"id":"https://openalex.org/G8936783087","display_name":"Control of Dynamically Coupled Agile Legged Robots and Bioinspired Robotic Tails","funder_award_id":"1906727","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W272156208","https://openalex.org/W1504362584","https://openalex.org/W1515982654","https://openalex.org/W1543608798","https://openalex.org/W1661823234","https://openalex.org/W1685429698","https://openalex.org/W1779583466","https://openalex.org/W1833562170","https://openalex.org/W1993314711","https://openalex.org/W2022781970","https://openalex.org/W2030515455","https://openalex.org/W2042921298","https://openalex.org/W2065238107","https://openalex.org/W2074154222","https://openalex.org/W2082089015","https://openalex.org/W2085897137","https://openalex.org/W2092040619","https://openalex.org/W2099129715","https://openalex.org/W2112640448","https://openalex.org/W2116773335","https://openalex.org/W2128131727","https://openalex.org/W2129516068","https://openalex.org/W2133859362","https://openalex.org/W2137547873","https://openalex.org/W2158782408","https://openalex.org/W2166271005","https://openalex.org/W2171879251","https://openalex.org/W2312248419","https://openalex.org/W2469976599","https://openalex.org/W2512603523","https://openalex.org/W2539534359","https://openalex.org/W2594658746","https://openalex.org/W2604724024","https://openalex.org/W2618245409","https://openalex.org/W2771123153","https://openalex.org/W2771691050","https://openalex.org/W2779458783","https://openalex.org/W2792099719","https://openalex.org/W2907940464","https://openalex.org/W2909331752","https://openalex.org/W2909553221","https://openalex.org/W2920812058","https://openalex.org/W2954730031","https://openalex.org/W2969111820","https://openalex.org/W2972810470","https://openalex.org/W2975322346","https://openalex.org/W2975869184","https://openalex.org/W2978961832","https://openalex.org/W3097995488","https://openalex.org/W3102818256","https://openalex.org/W3145941942","https://openalex.org/W3160954918","https://openalex.org/W4252510982","https://openalex.org/W4292872153","https://openalex.org/W6668946323","https://openalex.org/W6755146856","https://openalex.org/W6767349745","https://openalex.org/W6768729103"],"related_works":["https://openalex.org/W3035118532","https://openalex.org/W2971388045","https://openalex.org/W3133459837","https://openalex.org/W3105372678","https://openalex.org/W2388591084","https://openalex.org/W2085954256","https://openalex.org/W2964259080","https://openalex.org/W3101144081","https://openalex.org/W3091993415","https://openalex.org/W2896859526","https://openalex.org/W2902321116","https://openalex.org/W3044645263","https://openalex.org/W2921925427","https://openalex.org/W3176537844","https://openalex.org/W3197200461","https://openalex.org/W2910559643","https://openalex.org/W2117849668","https://openalex.org/W2771691050","https://openalex.org/W3004116281","https://openalex.org/W2890575998"],"abstract_inverted_index":{"This":[0],"letter":[1,174],"aims":[2],"to":[3,22,71,150,155,178],"develop":[4],"a":[5,29,63,85,185],"hierarchical":[6],"nonlinear":[7],"control":[8,14,44,148],"algorithm,":[9],"based":[10,48],"on":[11,49],"model":[12,69,92],"predictive":[13],"(MPC),":[15],"quadratic":[16],"programming":[17],"(QP),":[18],"and":[19,24,132,181,202],"virtual":[20,136],"constraints,":[21],"generate":[23],"stabilize":[25],"locomotion":[26,183],"patterns":[27],"in":[28,165,192,204],"real-time":[30,121],"manner":[31],"for":[32,62,89],"dynamical":[33],"models":[34],"of":[35,41,58,74,84,107,123,145,172,184,188,195],"quadrupedal":[36,190],"robots.":[37],"The":[38,81,169],"higher":[39],"level":[40,144],"the":[42,55,72,75,90,94,104,108,115,120,128,142,146,152,157,166,173,193],"proposed":[43,109,147],"scheme":[45,149],"is":[46,98,101],"developed":[47,140],"an":[50],"event-based":[51,95,105],"MPC":[52,96,110,124],"that":[53,103],"computes":[54],"optimal":[56,158],"center":[57],"mass":[59],"(COM)":[60],"trajectories":[61,159],"reduced-order":[64,91],"linear":[65],"inverted":[66],"pendulum":[67],"(LIP)":[68],"subject":[70],"feasibility":[73],"net":[76],"ground":[77,199],"reaction":[78],"force":[79],"(GRF).":[80],"asymptotic":[82],"stability":[83],"desired":[86],"target":[87],"point":[88],"under":[93],"approach":[97,111],"investigated.":[99],"It":[100],"shown":[102],"nature":[106],"can":[112],"significantly":[113],"reduce":[114],"computational":[116],"burden":[117],"associated":[118],"with":[119],"implementation":[122],"techniques.":[125],"To":[126],"bridge":[127],"gap":[129],"between":[130],"reduced-":[131],"full-order":[133,153],"models,":[134],"QP-based":[135],"constraint":[137],"controllers":[138],"are":[139,175],"at":[141],"lower":[143],"impose":[151],"dynamics":[154],"track":[156],"while":[160],"having":[161],"all":[162],"individual":[163],"GRFs":[164],"friction":[167],"cone.":[168],"analytical":[170],"results":[171],"numerically":[176],"verified":[177],"demonstrate":[179],"stable":[180],"robust":[182],"22":[186],"degree":[187],"freedom":[189],"robot,":[191],"presence":[194],"payloads,":[196],"external":[197],"disturbances,":[198],"height":[200],"variations,":[201],"uncertainty":[203],"contact":[205],"models.":[206]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}
