{"id":"https://openalex.org/W4365420601","doi":"https://doi.org/10.1109/tro.2023.3262186","title":"Inverse-Dynamics MPC via Nullspace Resolution","display_name":"Inverse-Dynamics MPC via Nullspace Resolution","publication_year":2023,"publication_date":"2023-04-12","ids":{"openalex":"https://openalex.org/W4365420601","doi":"https://doi.org/10.1109/tro.2023.3262186"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3262186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3262186","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/files/371213190/Inverse_dynamics_MASTALLI_DOA06032023_AFV_CC_BY.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032652050","display_name":"Carlos Mastalli","orcid":"https://orcid.org/0000-0002-0725-4279"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Carlos Mastalli","raw_affiliation_strings":["School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0002-0725-4279","affiliations":[{"raw_affiliation_string":"School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh, U.K","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014483096","display_name":"Saroj Prasad Chhatoi","orcid":"https://orcid.org/0000-0002-1187-3689"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Saroj Prasad Chhatoi","raw_affiliation_strings":["Centro di Ricerca &#x201C;Enrico Piaggio&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1187-3689","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;Enrico Piaggio&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023172463","display_name":"Thomas Corb\u00e8res","orcid":"https://orcid.org/0000-0002-3829-0096"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Thomas Corb\u00e9res","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3829-0096","affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043622443","display_name":"Steve Tonneau","orcid":"https://orcid.org/0000-0003-3001-8693"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Steve Tonneau","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0003-3001-8693","affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0649-7241","affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5032652050"],"corresponding_institution_ids":["https://openalex.org/I32062511"],"apc_list":null,"apc_paid":null,"fwci":4.2783,"has_fulltext":true,"cited_by_count":41,"citation_normalized_percentile":{"value":0.95134101,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"39","issue":"4","first_page":"3222","last_page":"3241"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9883999824523926,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9854000210762024,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.7041845917701721},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5816906690597534},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5517895221710205},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5017962455749512},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4505595862865448},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.4329395294189453},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.42816030979156494},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.42799851298332214},{"id":"https://openalex.org/keywords/complex-dynamics","display_name":"Complex dynamics","score":0.426510751247406},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.41788938641548157},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21883675456047058},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1406158208847046}],"concepts":[{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.7041845917701721},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5816906690597534},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5517895221710205},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5017962455749512},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4505595862865448},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.4329395294189453},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.42816030979156494},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.42799851298332214},{"id":"https://openalex.org/C126701199","wikidata":"https://www.wikidata.org/wiki/Q264224","display_name":"Complex dynamics","level":2,"score":0.426510751247406},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.41788938641548157},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21883675456047058},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1406158208847046},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2023.3262186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3262186","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/5ffec3a7-2baa-4f20-a308-e07cb0d0d9e9","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/5ffec3a7-2baa-4f20-a308-e07cb0d0d9e9","pdf_url":"https://www.research.ed.ac.uk/files/371213190/Inverse_dynamics_MASTALLI_DOA06032023_AFV_CC_BY.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mastalli, C, Chhatoi, S P, Corb\u00e9res, T, Tonneau, S & Vijayakumar, S 2023, 'Inverse-Dynamics MPC via Nullspace Resolution', IEEE Transactions on Robotics, vol. 39, no. 4, 10101674, pp. 3222-3241. https://doi.org/10.1109/TRO.2023.3262186","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/5ffec3a7-2baa-4f20-a308-e07cb0d0d9e9","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/5ffec3a7-2baa-4f20-a308-e07cb0d0d9e9","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mastalli, C, Chhatoi, S P, Corb\u00e9res, T, Tonneau, S & Vijayakumar, S 2023, 'Inverse-Dynamics MPC via Nullspace Resolution', IEEE Transactions on Robotics, vol. 39, no. 4, 10101674, pp. 3222-3241. https://doi.org/10.1109/TRO.2023.3262186","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/5ffec3a7-2baa-4f20-a308-e07cb0d0d9e9","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/5ffec3a7-2baa-4f20-a308-e07cb0d0d9e9","pdf_url":"https://www.research.ed.ac.uk/files/371213190/Inverse_dynamics_MASTALLI_DOA06032023_AFV_CC_BY.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mastalli, C, Chhatoi, S P, Corb\u00e9res, T, Tonneau, S & Vijayakumar, S 2023, 'Inverse-Dynamics MPC via Nullspace Resolution', IEEE Transactions on Robotics, vol. 39, no. 4, 10101674, pp. 3222-3241. https://doi.org/10.1109/TRO.2023.3262186","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2838024195","display_name":"UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management","funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4483049737","display_name":null,"funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334245","funder_display_name":"Offshore Robotics for Certification of Assets"},{"id":"https://openalex.org/G5313779304","display_name":null,"funder_award_id":"780684","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8602921712","display_name":null,"funder_award_id":"EP/R026173","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8620465226","display_name":null,"funder_award_id":"101016970","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320313467","display_name":"Alan Turing Institute","ror":"https://ror.org/035dkdb55"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334245","display_name":"Offshore Robotics for Certification of Assets","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4365420601.pdf","grobid_xml":"https://content.openalex.org/works/W4365420601.grobid-xml"},"referenced_works_count":82,"referenced_works":["https://openalex.org/W28293053","https://openalex.org/W88434223","https://openalex.org/W180478659","https://openalex.org/W618254468","https://openalex.org/W1566070776","https://openalex.org/W1582919213","https://openalex.org/W1970101292","https://openalex.org/W1971044547","https://openalex.org/W1971536112","https://openalex.org/W1974824893","https://openalex.org/W1975537977","https://openalex.org/W1980516134","https://openalex.org/W1994275787","https://openalex.org/W2003701638","https://openalex.org/W2004116378","https://openalex.org/W2015149365","https://openalex.org/W2024321257","https://openalex.org/W2035072927","https://openalex.org/W2041434319","https://openalex.org/W2061983716","https://openalex.org/W2063805130","https://openalex.org/W2087617385","https://openalex.org/W2101340954","https://openalex.org/W2123871098","https://openalex.org/W2139710904","https://openalex.org/W2147285788","https://openalex.org/W2154139861","https://openalex.org/W2158370675","https://openalex.org/W2198582666","https://openalex.org/W2221321873","https://openalex.org/W2399015533","https://openalex.org/W2411183766","https://openalex.org/W2529220408","https://openalex.org/W2571115941","https://openalex.org/W2599231066","https://openalex.org/W2738799195","https://openalex.org/W2762555062","https://openalex.org/W2771691050","https://openalex.org/W2774366155","https://openalex.org/W2784947652","https://openalex.org/W2788200022","https://openalex.org/W2804623852","https://openalex.org/W2898868201","https://openalex.org/W2906487027","https://openalex.org/W2909331752","https://openalex.org/W2920812058","https://openalex.org/W2951069078","https://openalex.org/W2970228732","https://openalex.org/W3004162504","https://openalex.org/W3081791272","https://openalex.org/W3089564096","https://openalex.org/W3089750699","https://openalex.org/W3090207068","https://openalex.org/W3098680447","https://openalex.org/W3102337601","https://openalex.org/W3102715624","https://openalex.org/W3102994022","https://openalex.org/W3103075896","https://openalex.org/W3103568523","https://openalex.org/W3104730803","https://openalex.org/W3105372678","https://openalex.org/W3109186372","https://openalex.org/W3123819824","https://openalex.org/W3125925428","https://openalex.org/W3204882529","https://openalex.org/W3205548345","https://openalex.org/W3206363916","https://openalex.org/W3207102200","https://openalex.org/W3207637958","https://openalex.org/W4221167814","https://openalex.org/W4225857316","https://openalex.org/W4226250682","https://openalex.org/W4246876444","https://openalex.org/W4250058668","https://openalex.org/W4284968714","https://openalex.org/W4289522461","https://openalex.org/W4296966920","https://openalex.org/W4300448178","https://openalex.org/W4312258136","https://openalex.org/W6603604263","https://openalex.org/W6642962755","https://openalex.org/W6735391366"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W3188646203","https://openalex.org/W2909957174","https://openalex.org/W4246278799","https://openalex.org/W136674370","https://openalex.org/W2105527480","https://openalex.org/W2052387497","https://openalex.org/W2218699221","https://openalex.org/W4285133152"],"abstract_inverted_index":{"Optimal":[0],"control":[1,32],"(OC)":[2],"using":[3],"inverse":[4,107,122,140],"dynamics":[5,72,108,123,141],"provides":[6],"numerical":[7],"benefits,":[8],"such":[9],"as":[10],"coarse":[11,213],"optimization,":[12],"cheaper":[13],"computation":[14],"of":[15,26,46,81,106,135,152,174,188,205,208,225],"derivatives,":[16],"and":[17,70,73,139,142,177,180,192],"a":[18,55,97,103,117,125,132,171,217],"high":[19,218],"convergence":[20,219],"rate.":[21],"However,":[22],"to":[23,40,58,83,196,222],"take":[24],"advantage":[25],"these":[27],"benefits":[28,207],"in":[29,158],"model":[30],"predictive":[31],"(MPC)":[33],"for":[34],"legged":[35],"robots,":[36],"it":[37,169],"is":[38,229],"crucial":[39],"handle":[41,59],"efficiently":[42],"its":[43],"large":[44],"number":[45],"equality":[47,60],"constraints.":[48],"To":[49,87],"accomplish":[50],"this,":[51],"we":[52,90,101,130],"first":[53,150],"propose":[54,116],"novel":[56,118],"approach":[57,67,147,210],"constraints":[61],"based":[62,120],"on":[63,121,155,163],"nullspace":[64,190],"parameterization.":[65],"Our":[66,146,227],"balances":[68],"optimality,":[69],"both":[71,144],"equality-constraint":[74],"feasibility":[75],"appropriately,":[76],"which":[77],"increases":[78],"the":[79,149,159,164,185,206],"basin":[80],"attraction":[82],"high-quality":[84],"local":[85],"minima.":[86],"do":[88],"so,":[89],"modify":[91],"our":[92,189,209],"feasibility-driven":[93],"search":[94],"by":[95,211],"incorporating":[96],"merit":[98],"function.":[99],"Furthermore,":[100],"introduce":[102],"condensed":[104,193],"formulation":[105,194],"that":[109],"considers":[110],"arbitrary":[111],"actuator":[112],"models.":[113],"We":[114,167,183,202],"also":[115],"MPC":[119,154],"within":[124],"perceptive":[126],"locomotion":[127],"framework.":[128],"Finally,":[129],"present":[131],"theoretical":[133],"comparison":[134],"OC":[136],"with":[137,216],"forward":[138],"evaluate":[143],"numerically.":[145],"enables":[148],"application":[151],"inverse-dynamics":[153],"hardware,":[156],"resulting":[157],"state-of-the-art":[160],"dynamic":[161],"climbing":[162],"ANYmal":[165],"robot.":[166],"benchmark":[168],"over":[170],"wide":[172],"range":[173],"robotics":[175],"problems":[176,215],"generate":[178],"agile":[179],"complex":[181],"maneuvers.":[182],"show":[184],"computational":[186],"reduction":[187],"resolution":[191],"(up":[195,221],"<inline-formula":[197],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[198,234],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[199],"notation=\"LaTeX\">${47.3}\\boldsymbol{\\%}$</tex-math></inline-formula>":[200],").":[201],"provide":[203],"evidence":[204],"solving":[212],"optimization":[214],"rate":[220],"10":[223],"Hz":[224],"discretization).":[226],"algorithm":[228],"publicly":[230],"available":[231],"inside":[232],"<sc":[233],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Crocoddyl</small>":[235],".":[236]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":12}],"updated_date":"2026-05-23T08:51:43.019350","created_date":"2025-10-10T00:00:00"}