{"id":"https://openalex.org/W4403094416","doi":"https://doi.org/10.1109/lra.2024.3474550","title":"Predictive Control With Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots","display_name":"Predictive Control With Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots","publication_year":2024,"publication_date":"2024-10-03","ids":{"openalex":"https://openalex.org/W4403094416","doi":"https://doi.org/10.1109/lra.2024.3474550"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3474550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3474550","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"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2603.08831","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057666020","display_name":"Leila Amanzadeh","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":"Leila Amanzadeh","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":null,"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/A5058241639","display_name":"Taizoon Chunawala","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":"Taizoon Chunawala","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0009-0003-5729-322X","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/I13383945","display_name":"Exponent (United States)","ror":"https://ror.org/04wzb3z02","country_code":"US","type":"company","lineage":["https://openalex.org/I13383945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Randall T. Fawcett","raw_affiliation_strings":["Exponent Inc., Phoenix, AZ, USA"],"raw_orcid":"https://orcid.org/0000-0002-7704-2706","affiliations":[{"raw_affiliation_string":"Exponent Inc., Phoenix, AZ, USA","institution_ids":["https://openalex.org/I13383945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025620905","display_name":"Alexander Leonessa","orcid":"https://orcid.org/0000-0001-9317-2714"},"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":"Alexander Leonessa","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9317-2714","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"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":1.4896,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.81095443,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"9","issue":"11","first_page":"10359","last_page":"10366"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9927999973297119,"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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9927999973297119,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9919000267982483,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9781000018119812,"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/payload","display_name":"Payload (computing)","score":0.8342839479446411},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.56666100025177},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5399262309074402},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5296218991279602},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47958317399024963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41929054260253906},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40219539403915405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3439033627510071},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.2577660083770752},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1105419397354126}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8342839479446411},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.56666100025177},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5399262309074402},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5296218991279602},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47958317399024963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41929054260253906},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40219539403915405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3439033627510071},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.2577660083770752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1105419397354126},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3474550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3474550","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:2603.08831","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2603.08831","pdf_url":"https://arxiv.org/pdf/2603.08831","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2603.08831","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2603.08831","pdf_url":"https://arxiv.org/pdf/2603.08831","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":[],"awards":[{"id":"https://openalex.org/G2323056169","display_name":"EAGER: TaskDCL: Cooperative Loco-Manipulation Tasks between Humans and Multi-Agent Legged Robots: A Distributed Control Approach for Co-Learning and Co-Adaptation","funder_award_id":"2423725","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/G8449023833","display_name":"NRI: INT: Collaborative Research: A Robotic Platform for Body-Scale Human Physical Interaction in Embodied Virtual Reality","funder_award_id":"2024772","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":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403094416.pdf","grobid_xml":"https://content.openalex.org/works/W4403094416.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W234738007","https://openalex.org/W1501551754","https://openalex.org/W1504362584","https://openalex.org/W1587506498","https://openalex.org/W1945123189","https://openalex.org/W1976410223","https://openalex.org/W1981723834","https://openalex.org/W2083483041","https://openalex.org/W2084166574","https://openalex.org/W2090167557","https://openalex.org/W2129224530","https://openalex.org/W2143729862","https://openalex.org/W2151182239","https://openalex.org/W2161427949","https://openalex.org/W2164957979","https://openalex.org/W2746499955","https://openalex.org/W2768163621","https://openalex.org/W2779458783","https://openalex.org/W2909553221","https://openalex.org/W2949658140","https://openalex.org/W2954730031","https://openalex.org/W3012148556","https://openalex.org/W3035118532","https://openalex.org/W3101870171","https://openalex.org/W3112225975","https://openalex.org/W3113616534","https://openalex.org/W3160954918","https://openalex.org/W3196685263","https://openalex.org/W3205622174","https://openalex.org/W3207637958","https://openalex.org/W3207966577","https://openalex.org/W3208966794","https://openalex.org/W3211963501","https://openalex.org/W3217056046","https://openalex.org/W4206270822","https://openalex.org/W4231017914","https://openalex.org/W4285149596","https://openalex.org/W4285222543","https://openalex.org/W4309323738","https://openalex.org/W4385732121","https://openalex.org/W4386621633","https://openalex.org/W4386822465","https://openalex.org/W4393144910","https://openalex.org/W4399205383","https://openalex.org/W4403094416","https://openalex.org/W6856913412"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4288094128","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W4379531983","https://openalex.org/W2294241086","https://openalex.org/W2556120871"],"abstract_inverted_index":{"This":[0],"letter":[1],"formally":[2],"develops":[3],"a":[4,19,26,66,99,156,163],"novel":[5],"hierarchical":[6],"planning":[7],"and":[8,132,159,173,191],"control":[9,22],"framework":[10],"for":[11,61,105],"robust":[12],"payload":[13,187],"transportation":[14],"by":[15,89],"quadrupedal":[16],"robots,":[17],"integrating":[18],"model":[20,49],"predictive":[21],"(MPC)":[23],"algorithm":[24,60],"with":[25,145,155],"gradient-descent-based":[27],"adaptive":[28,38,92],"updating":[29],"law.":[30],"At":[31],"the":[32,41,45,71,76,79,90,111,115,177],"framework's":[33,112],"high":[34],"level,":[35],"an":[36,58],"indirect":[37],"law":[39],"estimates":[40],"unknown":[42,121],"parameters":[43,55],"of":[44,78,147],"reduced-order":[46,86],"(template)":[47],"locomotion":[48],"under":[50],"varying":[51],"payloads.":[52],"These":[53],"estimated":[54],"feed":[56],"into":[57],"MPC":[59,72,93,158],"real-time":[62],"trajectory":[63],"planning,":[64],"incorporating":[65],"convex":[67],"stability":[68,77],"criterion":[69],"within":[70],"constraints":[73],"to":[74,98,125],"ensure":[75],"template":[80],"model's":[81],"estimation":[82],"error.":[83],"The":[84,138],"optimal":[85],"trajectories":[87],"generated":[88],"high-level":[91],"(AMPC)":[94],"are":[95],"then":[96],"passed":[97],"low-level":[100],"nonlinear":[101],"whole-body":[102],"controller":[103],"(WBC)":[104],"tracking.":[106],"Extensive":[107],"numerical":[108],"investigations":[109],"validate":[110],"capabilities,":[113],"showcasing":[114],"robot's":[116],"proficiency":[117],"in":[118,127,171],"transporting":[119],"unmodeled,":[120],"static":[122],"payloads":[123,144],"up":[124],"109%":[126],"experiments":[128,169],"on":[129,134,150,180],"flat":[130],"terrains":[131,182],"91%":[133],"rough":[135,151,181],"experimental":[136],"terrains.":[137,152],"robot":[139],"also":[140],"successfully":[141],"manages":[142],"dynamic":[143],"73%":[146],"its":[148],"mass":[149],"Performance":[153],"comparisons":[154],"normal":[157],"an$\\mathcal":[160],"{L}_{1}$MPC":[161],"indicate":[162],"significant":[164],"improvement.":[165],"Furthermore,":[166],"comprehensive":[167],"hardware":[168],"conducted":[170],"indoor":[172],"outdoor":[174],"environments":[175],"confirm":[176],"method's":[178],"efficacy":[179],"despite":[183],"uncertainties":[184],"such":[185],"as":[186],"variations,":[188],"push":[189],"disturbances,":[190],"obstacles.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
