{"id":"https://openalex.org/W4390099575","doi":"https://doi.org/10.1109/robio58561.2023.10354635","title":"An Universal Dynamic Model Predictive Control Framework for Quadruped Robot Locomotion","display_name":"An Universal Dynamic Model Predictive Control Framework for Quadruped Robot Locomotion","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099575","doi":"https://doi.org/10.1109/robio58561.2023.10354635"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5101283230","display_name":"Zehua Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zehua Huang","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Information Science & Technology,Beijing,China,100029"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Information Science & Technology,Beijing,China,100029","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058264767","display_name":"Ran Huang","orcid":"https://orcid.org/0000-0003-3768-6141"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Huang","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Information Science & Technology,Beijing,China,100029"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Information Science & Technology,Beijing,China,100029","institution_ids":["https://openalex.org/I75390827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17203355,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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":0.989300012588501,"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":0.7502560615539551},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6324102878570557},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5935400128364563},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5233339667320251},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.488528847694397},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.451399028301239},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42938053607940674},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4069158434867859},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35521072149276733},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21734663844108582},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19394034147262573}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7502560615539551},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6324102878570557},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5935400128364563},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5233339667320251},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.488528847694397},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.451399028301239},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42938053607940674},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4069158434867859},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35521072149276733},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21734663844108582},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19394034147262573}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8299999833106995}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2094496385","https://openalex.org/W2736601468","https://openalex.org/W2796290181","https://openalex.org/W2909331752","https://openalex.org/W2909553221","https://openalex.org/W2969111820","https://openalex.org/W2972810470","https://openalex.org/W2979646245","https://openalex.org/W3025180790","https://openalex.org/W3039737909","https://openalex.org/W3093922502","https://openalex.org/W3100789280","https://openalex.org/W3104515094","https://openalex.org/W3104876774","https://openalex.org/W3112664346","https://openalex.org/W3113616534","https://openalex.org/W4205775512","https://openalex.org/W4320027838","https://openalex.org/W4320059782","https://openalex.org/W6741002519","https://openalex.org/W6767349745"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W4231453746","https://openalex.org/W1886477626","https://openalex.org/W4242718759","https://openalex.org/W4376605692","https://openalex.org/W2762381663"],"abstract_inverted_index":{"Quadruped":[0],"Robots":[1],"require":[2],"the":[3,56,62,68,112],"capability":[4],"to":[5,54,106],"traverse":[6],"complex":[7],"and":[8,17,23,67,109,139],"demanding":[9],"surroundings":[10],"found":[11],"in":[12],"natural":[13],"landscapes,":[14],"urban":[15],"areas,":[16],"industrial":[18],"facilities.":[19],"However,":[20],"achieving":[21],"efficient":[22],"flexible":[24],"control":[25,99],"of":[26,64,70,81],"these":[27],"systems":[28],"remains":[29],"an":[30],"ongoing":[31],"challenge.":[32],"In":[33],"this":[34,76,132],"paper,":[35],"we":[36],"present":[37],"a":[38,118],"novel":[39],"Universal":[40],"Dynamic":[41],"Model":[42],"Predictive":[43],"Control":[44],"(UDMPC)":[45],"Framework":[46],"designed":[47],"specifically":[48],"for":[49],"quadruped":[50,65,114],"robot":[51,115],"locomotion,":[52],"aiming":[53],"address":[55],"controller":[57],"design":[58],"problems":[59],"caused":[60],"by":[61],"diversity":[63],"robots":[66],"complexity":[69],"terrains.":[71],"Even":[72],"within":[73,117],"intricate":[74],"terrains,":[75],"framework":[77],"guarantees":[78],"accurate":[79],"tracing":[80],"reference":[82],"velocity":[83],"commands,":[84],"augmenting":[85],"locomotion":[86],"prowess.":[87],"The":[88,121],"MPC":[89],"controller\u2019s":[90],"parameters":[91],"are":[92],"dynamically":[93],"fine-tuned":[94],"through":[95],"reinforcement":[96],"learning,":[97],"enhancing":[98],"reliability.":[100],"Our":[101],"proposed":[102],"approach":[103],"was":[104],"subjected":[105],"rigorous":[107],"testing":[108],"evaluation":[110],"using":[111],"Go1":[113],"model":[116],"simulation":[119],"environment.":[120],"findings":[122],"showcased":[123],"its":[124],"exceptional":[125],"dynamic":[126],"adaptability,":[127],"surpassing":[128],"fixed-parameter":[129],"controllers.":[130],"Notably,":[131],"work":[133],"considerably":[134],"enhances":[135],"command":[136],"tracking":[137],"precision":[138],"stability.":[140]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}