{"id":"https://openalex.org/W6903318232","doi":"https://doi.org/10.1109/tro.2025.3587998","title":"Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain","display_name":"Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W6903318232","doi":"https://doi.org/10.1109/tro.2025.3587998"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3587998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3587998","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Brian Acosta","orcid":"https://orcid.org/0000-0002-0114-3527"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Brian Acosta","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0114-3527","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":null,"display_name":"Michael Posa","orcid":"https://orcid.org/0000-0003-0599-385X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Posa","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0599-385X","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":3.0067,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.91714977,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"41","issue":null,"first_page":"4518","last_page":"4537"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9663000106811523,"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":0.9663000106811523,"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":0.006599999964237213,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.003800000064074993,"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/underactuation","display_name":"Underactuation","score":0.8335000276565552},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7150999903678894},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.5853999853134155},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4860999882221222},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.44449999928474426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42399999499320984},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4172999858856201},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37130001187324524},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.36570000648498535}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8335000276565552},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7150999903678894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5932999849319458},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.5853999853134155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4975000023841858},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4860999882221222},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.44449999928474426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42399999499320984},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42239999771118164},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4172999858856201},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37130001187324524},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.36570000648498535},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.34869998693466187},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.3425999879837036},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.34049999713897705},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.3393999934196472},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.3314000070095062},{"id":"https://openalex.org/C9395851","wikidata":"https://www.wikidata.org/wiki/Q177929","display_name":"Stack (abstract data type)","level":2,"score":0.32190001010894775},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3197000026702881},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3174999952316284},{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.31690001487731934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2930999994277954},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.28519999980926514},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2799000144004822},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.2759999930858612},{"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/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26260000467300415},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2563000023365021},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.2522999942302704}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3587998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3587998","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7130745649337769,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G3964414014","display_name":null,"funder_award_id":"DGE-1845298","funder_id":"https://openalex.org/F4562087700","funder_display_name":"National Science Foundation Graduate Research Fellowship Program"}],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null},{"id":"https://openalex.org/F4562087700","display_name":"National Science Foundation Graduate Research Fellowship Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W2000018820","https://openalex.org/W2006564886","https://openalex.org/W2015149365","https://openalex.org/W2074070730","https://openalex.org/W2076420009","https://openalex.org/W2081683070","https://openalex.org/W2087347434","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2165736859","https://openalex.org/W2202245204","https://openalex.org/W2204100769","https://openalex.org/W2569839618","https://openalex.org/W2774366155","https://openalex.org/W2809054577","https://openalex.org/W3000625188","https://openalex.org/W3012062338","https://openalex.org/W3020839343","https://openalex.org/W3089750699","https://openalex.org/W3095484646","https://openalex.org/W3124944733","https://openalex.org/W3132674053","https://openalex.org/W3148915740","https://openalex.org/W3153834124","https://openalex.org/W3176010321","https://openalex.org/W3176539729","https://openalex.org/W3178901079","https://openalex.org/W3206982864","https://openalex.org/W4226250682","https://openalex.org/W4229081732","https://openalex.org/W4283734789","https://openalex.org/W4312405101","https://openalex.org/W4312749288","https://openalex.org/W4313562995","https://openalex.org/W4375854035","https://openalex.org/W4378696928","https://openalex.org/W4383108747","https://openalex.org/W4389665739","https://openalex.org/W4390480952","https://openalex.org/W4390481128","https://openalex.org/W4390938336","https://openalex.org/W4396712933","https://openalex.org/W4401416668","https://openalex.org/W4401416934","https://openalex.org/W4404953355","https://openalex.org/W4404953499","https://openalex.org/W4409153922","https://openalex.org/W6862948353"],"related_works":[],"abstract_inverted_index":{"Traversing":[0],"rough":[1],"terrain":[2,71,102,119],"requires":[3],"dynamic":[4],"bipeds":[5],"to":[6,73],"stabilize":[7],"themselves":[8],"through":[9,139],"foot":[10],"placement":[11],"without":[12],"stepping":[13],"in":[14,121],"unsafe":[15],"areas.":[16],"Planning":[17],"these":[18,38],"footsteps":[19],"online":[20],"is":[21],"challenging":[22],"given":[23],"non-convexity":[24],"of":[25,133,149],"the":[26,131,143,150],"safe":[27],"terrain,":[28],"and":[29,32,44,85,136],"imperfect":[30],"perception":[31,43,106,135],"state":[33,148],"estimation.":[34],"This":[35],"paper":[36],"addresses":[37],"challenges":[39],"with":[40,142],"a":[41,61,68,95,116,125],"full-stack":[42],"control":[45,59,137],"system":[46],"for":[47,98],"achieving":[48,147],"underactuated":[49,144],"walking":[50,154],"on":[51,155],"discontinuous":[52,156],"terrain.":[53,157],"First,":[54],"we":[55],"develop":[56],"model-predictive":[57],"footstep":[58,79,86],"(MPFC),":[60],"single":[62,126],"mixed-integer":[63],"quadratic":[64],"program":[65],"which":[66],"assumes":[67],"convex":[69,100],"polygon":[70,101],"decomposition":[72],"optimize":[74],"over":[75,89],"discrete":[76],"foothold":[77],"choice,":[78],"position,":[80],"ankle":[81],"torque,":[82],"template":[83],"dynamics,":[84],"timing":[87],"at":[88],"100":[90],"Hz.":[91],"We":[92,129],"then":[93],"propose":[94],"novel":[96],"approach":[97],"generating":[99,115],"decompositions":[103],"online.":[104],"Our":[105],"stack":[107,138],"decouples":[108],"safe-terrain":[109],"classification":[110],"from":[111],"fitting":[112],"planar":[113],"polygons,":[114],"temporally":[117],"consistent":[118],"segmentation":[120],"real":[122],"time":[123],"using":[124],"CPU":[127],"thread.":[128],"demonstrate":[130],"performance":[132],"our":[134],"outdoor":[140],"experiments":[141],"biped":[145],"Cassie,":[146],"art":[151],"perceptive":[152],"bipedal":[153],"Supplemental":[158],"Video:":[159],"(Short":[160],"[1],":[161],"Long":[162],"[2]).":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}