{"id":"https://openalex.org/W3001210690","doi":"https://doi.org/10.1109/robio49542.2019.8961558","title":"An algorithm of foot end trajectory tracking control for quadruped robot based on model predictive control","display_name":"An algorithm of foot end trajectory tracking control for quadruped robot based on model predictive control","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3001210690","doi":"https://doi.org/10.1109/robio49542.2019.8961558","mag":"3001210690"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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":"https://openalex.org/A5041249584","display_name":"Jiaxin Guo","orcid":"https://orcid.org/0000-0002-2934-7759"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiaxin Guo","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China","School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105368487","display_name":"Yukun Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yukun Zheng","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China","School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051969366","display_name":"Daoxiao Qu","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daoxiao Qu","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China","School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113852285","display_name":"Rui Song","orcid":"https://orcid.org/0000-0002-4119-4433"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Song","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China","School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China","School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5041249584"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":null,"apc_paid":null,"fwci":0.1956,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.52240419,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"828","last_page":"833"},"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9681000113487244,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9621000289916992,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7980097532272339},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6569276452064514},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6547707319259644},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6508595943450928},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.5665455460548401},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5444480180740356},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47763171792030334},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4233313798904419},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3254711627960205},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.06356245279312134}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7980097532272339},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6569276452064514},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6547707319259644},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6508595943450928},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.5665455460548401},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5444480180740356},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47763171792030334},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4233313798904419},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3254711627960205},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.06356245279312134},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1521528529","https://openalex.org/W1554233026","https://openalex.org/W1973805002","https://openalex.org/W2025443754","https://openalex.org/W2062116018","https://openalex.org/W2081469022","https://openalex.org/W2144503307","https://openalex.org/W2159220301","https://openalex.org/W2288348950","https://openalex.org/W2764255492","https://openalex.org/W2771123153","https://openalex.org/W2910410120","https://openalex.org/W2953046228","https://openalex.org/W4252031641","https://openalex.org/W4254437469","https://openalex.org/W6696533076","https://openalex.org/W6764649563","https://openalex.org/W6823173665"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W1593608146","https://openalex.org/W2118728139","https://openalex.org/W3082611418","https://openalex.org/W2903025760","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"The":[0],"control":[1,31,35],"of":[2,6,14,21,40,52,86],"the":[3,7,15,19,28,36,41,45,50,53,67,74,76,87],"leg":[4,54],"mechanism":[5],"quadruped":[8,42],"robot":[9],"has":[10],"always":[11],"been":[12],"one":[13],"research":[16],"hotspots":[17],"in":[18],"field":[20],"robotics.":[22],"This":[23],"paper":[24],"proposes":[25],"to":[26,34,48,66,82],"use":[27],"model":[29,49],"predictive":[30],"method":[32],"(MPC)":[33],"foot":[37],"track":[38],"tracking":[39,85],"robot.":[43],"Using":[44],"Newton-Euler":[46],"formula":[47],"dynamics":[51],"mechanical":[55],"structure":[56],"and":[57,70],"obtaining":[58],"its":[59],"discrete":[60],"linear":[61],"state":[62],"space":[63],"model.":[64],"According":[65],"performance":[68],"indicators":[69],"constraints":[71],"given":[72],"by":[73],"system,":[75],"actual":[77],"output":[78],"is":[79],"feedback":[80],"corrected":[81],"achieve":[83],"real-time":[84],"required":[88],"joint":[89],"rotation":[90],"angle":[91],"trajectory.":[92]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}