{"id":"https://openalex.org/W4409098423","doi":"https://doi.org/10.1109/tase.2025.3557162","title":"A Three-Step Optimization Framework With Hybrid Models for a Humanoid Robot\u2019s Jump Motion","display_name":"A Three-Step Optimization Framework With Hybrid Models for a Humanoid Robot\u2019s Jump Motion","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409098423","doi":"https://doi.org/10.1109/tase.2025.3557162"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3557162","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3557162","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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":"https://openalex.org/A5063434745","display_name":"Haoxiang Qi","orcid":"https://orcid.org/0000-0003-0796-3750"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haoxiang Qi","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050003106","display_name":"Xuechao Chen","orcid":"https://orcid.org/0000-0003-1136-3053"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuechao Chen","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100411172","display_name":"Qingqing Li","orcid":"https://orcid.org/0000-0002-9888-4160"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingqing Li","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007433804","display_name":"Yaliang Liu","orcid":"https://orcid.org/0000-0002-0148-4102"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaliang Liu","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001945338","display_name":"Chuanku Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanku Yi","raw_affiliation_strings":["Qiyuan Laboratory, Beijing, China","School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Qiyuan Laboratory, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088505756","display_name":"Chencheng Dong","orcid":"https://orcid.org/0000-0002-2444-3637"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chencheng Dong","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009075586","display_name":"Fei Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Meng","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5063434745"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.2888,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.78005923,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"14120","last_page":"14132"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"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":0.9976000189781189,"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":0.9943000078201294,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9768999814987183,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8803870677947998},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.6643587350845337},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6201086044311523},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.533416211605072},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49912142753601074},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4851249158382416},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4606603980064392},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4524286687374115},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36782407760620117},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3344452977180481},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3148171603679657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2771734893321991},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26386070251464844},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16484391689300537},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16248592734336853}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8803870677947998},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.6643587350845337},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6201086044311523},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.533416211605072},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49912142753601074},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4851249158382416},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4606603980064392},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4524286687374115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36782407760620117},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3344452977180481},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3148171603679657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2771734893321991},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26386070251464844},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16484391689300537},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16248592734336853},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3557162","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3557162","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3159057707","display_name":null,"funder_award_id":"B08043","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G6643438643","display_name":null,"funder_award_id":"62403060","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1661970104","https://openalex.org/W1968294545","https://openalex.org/W1991555840","https://openalex.org/W2004609114","https://openalex.org/W2061983716","https://openalex.org/W2067555278","https://openalex.org/W2082511574","https://openalex.org/W2087364755","https://openalex.org/W2115933773","https://openalex.org/W2117822541","https://openalex.org/W2125693771","https://openalex.org/W2139612757","https://openalex.org/W2143729862","https://openalex.org/W2149595541","https://openalex.org/W2568351494","https://openalex.org/W2591770694","https://openalex.org/W2883488766","https://openalex.org/W2897346447","https://openalex.org/W2911712460","https://openalex.org/W2922152268","https://openalex.org/W2968725001","https://openalex.org/W2968764556","https://openalex.org/W3012013006","https://openalex.org/W3091621320","https://openalex.org/W3130702292","https://openalex.org/W3205118211","https://openalex.org/W3206338439","https://openalex.org/W3206363598","https://openalex.org/W4221155215","https://openalex.org/W4321380754","https://openalex.org/W4376479262","https://openalex.org/W4385338453","https://openalex.org/W4387790147","https://openalex.org/W4388240504","https://openalex.org/W4389667250","https://openalex.org/W4399282718","https://openalex.org/W4403741606","https://openalex.org/W6854090272","https://openalex.org/W6903750444"],"related_works":["https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151","https://openalex.org/W1532965292","https://openalex.org/W2541058374","https://openalex.org/W4390481035","https://openalex.org/W2163555676","https://openalex.org/W2776995446"],"abstract_inverted_index":{"High":[0],"dynamic":[1],"jump":[2,41,128,138],"motions":[3],"are":[4,149],"challenging":[5],"tasks":[6],"for":[7,38,43],"humanoid":[8,45],"robots":[9],"to":[10,24,82,92],"achieve":[11,25,52],"environment":[12],"adaptation":[13],"and":[14,27,51,66,121,132,145],"obstacle":[15],"crossing.":[16],"The":[17,60,86],"trajectory":[18,35],"optimization":[19,36,62,88,104],"is":[20],"a":[21,33,40,44,75,140],"practical":[22],"method":[23],"high-dynamic":[26],"explosive":[28],"jumping.":[29],"This":[30],"paper":[31],"proposes":[32],"3-step":[34],"framework":[37,56],"generating":[39],"motion":[42],"robot.":[46],"To":[47],"improve":[48],"iteration":[49],"speed":[50],"ideal":[53],"performance,":[54],"the":[55,72,102,116,123,155,158],"comprises":[57],"three":[58],"sub-optimizations.":[59],"first":[61],"in-corporates":[63],"momentum,":[64],"inertia,":[65,122],"center":[67],"of":[68,119,136,142,157],"pressure":[69],"(CoP),":[70],"treating":[71],"robot":[73,124],"as":[74],"static":[76],"reaction":[77],"momentum":[78,120],"pendulum":[79],"(SRMP)":[80],"model":[81],"generate":[83],"corresponding":[84],"trajectories.":[85],"second":[87],"maps":[89],"these":[90],"trajectories":[91,108,110],"joint":[93,107],"space":[94],"using":[95],"effective":[96],"Quadratic":[97],"Programming":[98],"(QP)":[99],"solvers.":[100],"Finally,":[101],"third":[103],"generates":[105],"whole-body":[106],"utilizing":[109],"generated":[111],"by":[112],"previous":[113],"parts.":[114],"With":[115],"combined":[117],"consideration":[118],"achieves":[125],"agile":[126],"forward":[127,137],"motions.":[129],"A":[130],"simulation":[131],"experiments":[133],"(Fig.":[134],"1)":[135],"with":[139],"distance":[141],"1.0":[143],"m":[144,147],"0.5":[146],"height":[148],"presented":[150],"in":[151],"this":[152],"paper,":[153],"validating":[154],"applicability":[156],"proposed":[159],"framework.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}