{"id":"https://openalex.org/W4415821046","doi":"https://doi.org/10.1109/lra.2025.3628199","title":"Dynamically-Consistent Trajectory Optimization for Legged Robots via Contact Point Decomposition","display_name":"Dynamically-Consistent Trajectory Optimization for Legged Robots via Contact Point Decomposition","publication_year":2025,"publication_date":"2025-11-03","ids":{"openalex":"https://openalex.org/W4415821046","doi":"https://doi.org/10.1109/lra.2025.3628199"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3628199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3628199","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"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Sangmin Kim","orcid":"https://orcid.org/0009-0003-4970-907X"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sangmin Kim","raw_affiliation_strings":["Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea"],"raw_orcid":"https://orcid.org/0009-0003-4970-907X","affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003168385","display_name":"Hajun Kim","orcid":"https://orcid.org/0009-0002-9430-7830"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hajun Kim","raw_affiliation_strings":["Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea"],"raw_orcid":"https://orcid.org/0009-0002-9430-7830","affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055437860","display_name":"Gijeong Kim","orcid":"https://orcid.org/0000-0002-3147-7317"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gijeong Kim","raw_affiliation_strings":["Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100383175","display_name":"Min\u2010Gyu Kim","orcid":"https://orcid.org/0000-0003-3693-0712"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Min-Gyu Kim","raw_affiliation_strings":["Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea"],"raw_orcid":"https://orcid.org/0000-0003-3693-0712","affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090151532","display_name":"Hae-Won Park","orcid":"https://orcid.org/0000-0001-6130-6589"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hae-Won Park","raw_affiliation_strings":["Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea"],"raw_orcid":"https://orcid.org/0000-0001-6130-6589","affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29661119,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"12","first_page":"13161","last_page":"13168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9750000238418579,"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":0.9750000238418579,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.008299999870359898,"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/T12290","display_name":"Human Motion and Animation","score":0.004100000020116568,"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":0.7006000280380249},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6664999723434448},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5546000003814697},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4544000029563904},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4521999955177307},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.40130001306533813},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.39259999990463257},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.37549999356269836},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.35359999537467957}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7006000280380249},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6664999723434448},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5546000003814697},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4544000029563904},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4521999955177307},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.445499986410141},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.40130001306533813},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.39259999990463257},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.37549999356269836},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.35359999537467957},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35019999742507935},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.34790000319480896},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3441999852657318},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.3377000093460083},{"id":"https://openalex.org/C27753989","wikidata":"https://www.wikidata.org/wiki/Q284885","display_name":"Superposition principle","level":2,"score":0.3305000066757202},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32749998569488525},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3111000061035156},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.3084000051021576},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.3027999997138977},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2921999990940094},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.28029999136924744},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.2538999915122986},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2522999942302704},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.2517000138759613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3628199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3628199","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322741","display_name":"Ministerstvo Pr\u016fmyslu a Obchodu","ror":"https://ror.org/03j4eb467"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1552665521","https://openalex.org/W1582919213","https://openalex.org/W1983639748","https://openalex.org/W2042408133","https://openalex.org/W2061983716","https://openalex.org/W2070930497","https://openalex.org/W2094963988","https://openalex.org/W2101340954","https://openalex.org/W2123871098","https://openalex.org/W2774366155","https://openalex.org/W2779458783","https://openalex.org/W2788030459","https://openalex.org/W2909331752","https://openalex.org/W2954730031","https://openalex.org/W3023452979","https://openalex.org/W3090829738","https://openalex.org/W3130162259","https://openalex.org/W3193914824","https://openalex.org/W3199300111","https://openalex.org/W3202328163","https://openalex.org/W3209332701","https://openalex.org/W4382365373","https://openalex.org/W4387682164","https://openalex.org/W4388692454","https://openalex.org/W4403035129","https://openalex.org/W4413318774"],"related_works":[],"abstract_inverted_index":{"To":[0],"generate":[1,139],"reliable":[2,141],"motion":[3,166],"for":[4,73,147],"legged":[5,148],"robots":[6],"through":[7],"trajectory":[8,40,135],"optimization,":[9],"it":[10],"is":[11],"crucial":[12],"to":[13,68,92],"simultaneously":[14],"compute":[15],"the":[16,27,30,44,54,61,70,86,98,105,114,130,133,161],"robot's":[17,99],"path":[18],"and":[19,49,101,165],"contact":[20,75],"sequence,":[21],"as":[22,24],"well":[23],"accurately":[25],"consider":[26],"dynamics":[28,48,72,164],"in":[29],"problem":[31],"formulation.":[32],"In":[33],"this":[34],"paper,":[35],"we":[36,84],"present":[37],"a":[38,155],"phase-based":[39],"optimization":[41,136],"that":[42],"ensures":[43,123],"feasibility":[45,162],"of":[46,64,89,108,118,163],"translational":[47,71,109],"friction":[50,126],"cone":[51,127],"constraints":[52],"throughout":[53],"entire":[55],"trajectory.":[56],"Specifically,":[57],"our":[58,121,152],"approach":[59],"leverages":[60],"superposition":[62],"properties":[63],"linear":[65],"differential":[66],"equations":[67],"decouple":[69],"each":[74],"point,":[76],"which":[77],"operates":[78],"under":[79],"different":[80],"phase":[81],"sequences.":[82],"Furthermore,":[83],"utilize":[85],"differentiation":[87],"matrix":[88],"B\u00e9zier":[90,119],"polynomials":[91],"derive":[93],"an":[94],"analytical":[95],"relationship":[96],"between":[97],"position":[100],"force,":[102],"thereby":[103],"ensuring":[104],"consistent":[106],"satisfaction":[107],"dynamics.":[110],"Additionally,":[111],"by":[112],"exploiting":[113],"convex":[115],"closure":[116],"property":[117],"polynomials,":[120],"method":[122],"compliance":[124],"with":[125,143],"constraints.":[128],"Using":[129],"aforementioned":[131],"approach,":[132],"proposed":[134],"framework":[137,153],"can":[138],"dynamically":[140],"motions":[142],"various":[144],"gait":[145],"sequences":[146],"robots.":[149],"We":[150],"validate":[151],"using":[154],"quadruped":[156],"robot":[157],"model,":[158],"focusing":[159],"on":[160],"generation.":[167]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-11-03T00:00:00"}
