{"id":"https://openalex.org/W4414153854","doi":"https://doi.org/10.1109/tsmc.2025.3604639","title":"Gait Adaptation and Iterative Control: A Switched Systems Optimization Framework for Quadrupedal Robots","display_name":"Gait Adaptation and Iterative Control: A Switched Systems Optimization Framework for Quadrupedal Robots","publication_year":2025,"publication_date":"2025-09-11","ids":{"openalex":"https://openalex.org/W4414153854","doi":"https://doi.org/10.1109/tsmc.2025.3604639"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2025.3604639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3604639","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5119219249","display_name":"Pietro Gori","orcid":"https://orcid.org/0009-0002-4989-321X"},"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":true,"raw_author_name":"Pietro Gori","raw_affiliation_strings":["Centro di Ricerca &#x201C;Enrico Piaggio&#x201D; and the Dipartimento di Ingegneria dell&#x2019;Informazione, Universita di Pisa, Pisa, Italy","Centro di Ricerca Enrico Piaggio and the Dipartimento di Ingegneria dell&#x2019;Informazione, Universita di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0009-0002-4989-321X","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;Enrico Piaggio&#x201D; and the Dipartimento di Ingegneria dell&#x2019;Informazione, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca Enrico Piaggio and the Dipartimento di Ingegneria dell&#x2019;Informazione, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064305562","display_name":"Michele Pierallini","orcid":"https://orcid.org/0000-0003-0547-2747"},"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":"Michele Pierallini","raw_affiliation_strings":["Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D; Universita di Pisa, Pisa, Italy","Centro di Ricerca &#x201C;Enrico Piaggio&#x201D;, Universita di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0547-2747","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D; Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca &#x201C;Enrico Piaggio&#x201D;, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047597226","display_name":"Franco Angelini","orcid":"https://orcid.org/0000-0003-2559-9569"},"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":"Franco Angelini","raw_affiliation_strings":["Centro di Ricerca &#x201C;Enrico Piaggio&#x201D; and the Dipartimento di Ingegneria dell&#x2019;Informazione, Universita di Pisa, Pisa, Italy","Centro di Ricerca Enrico Piaggio and the Dipartimento di Ingegneria dell&#x2019;Informazione, Universita di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2559-9569","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;Enrico Piaggio&#x201D; and the Dipartimento di Ingegneria dell&#x2019;Informazione, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca Enrico Piaggio and the Dipartimento di Ingegneria dell&#x2019;Informazione, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042460018","display_name":"Manolo Garabini","orcid":"https://orcid.org/0000-0002-5873-3173"},"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":"Manolo Garabini","raw_affiliation_strings":["Centro di Ricerca &#x201C;Enrico Piaggio&#x201D; and the Dipartimento di Ingegneria dell&#x2019;Informazione, Universita di Pisa, Pisa, Italy","Centro di Ricerca Enrico Piaggio and the Dipartimento di Ingegneria dell&#x2019;Informazione, Universita di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5873-3173","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;Enrico Piaggio&#x201D; and the Dipartimento di Ingegneria dell&#x2019;Informazione, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca Enrico Piaggio and the Dipartimento di Ingegneria dell&#x2019;Informazione, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5119219249"],"corresponding_institution_ids":["https://openalex.org/I1300504238"],"apc_list":null,"apc_paid":null,"fwci":1.2027,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.80438634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"55","issue":"11","first_page":"8327","last_page":"8340"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987000226974487,"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":0.9987000226974487,"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":0.9959999918937683,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9889000058174133,"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/robot","display_name":"Robot","score":0.6585000157356262},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6499999761581421},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6363000273704529},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6223000288009644},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.544700026512146},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.48919999599456787},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.45980000495910645},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4253000020980835},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4198000133037567},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.3962000012397766}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6585000157356262},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6499999761581421},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6363000273704529},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6223000288009644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5892000198364258},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.544700026512146},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49160000681877136},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.48919999599456787},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.45980000495910645},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4253000020980835},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4198000133037567},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.3962000012397766},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3846000134944916},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.32659998536109924},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.322299987077713},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3158999979496002},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.31189998984336853},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.30640000104904175},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.30550000071525574},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.30250000953674316},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2987000048160553},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.295199990272522},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.2939999997615814},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.28690001368522644},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.28119999170303345},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.27730000019073486},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2770000100135803},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.2669999897480011},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.26249998807907104},{"id":"https://openalex.org/C1893757","wikidata":"https://www.wikidata.org/wiki/Q3653001","display_name":"Inversion (geology)","level":3,"score":0.25999999046325684}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tsmc.2025.3604639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3604639","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/1328054","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/abstract/document/11159153","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2190653043","display_name":null,"funder_award_id":"HORIZON-MSCA-2023-SE-01-01-MSCA","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W299457558","https://openalex.org/W770472534","https://openalex.org/W1560270123","https://openalex.org/W1562460111","https://openalex.org/W1577858716","https://openalex.org/W1582919213","https://openalex.org/W1972193505","https://openalex.org/W1997576152","https://openalex.org/W2000975219","https://openalex.org/W2008342119","https://openalex.org/W2014019964","https://openalex.org/W2061983716","https://openalex.org/W2090373601","https://openalex.org/W2101340954","https://openalex.org/W2117271243","https://openalex.org/W2123871098","https://openalex.org/W2159038290","https://openalex.org/W2162218551","https://openalex.org/W2170890328","https://openalex.org/W2214936458","https://openalex.org/W2277338290","https://openalex.org/W2436002435","https://openalex.org/W2491414412","https://openalex.org/W2519452711","https://openalex.org/W2529220408","https://openalex.org/W2625966862","https://openalex.org/W2767578104","https://openalex.org/W2774366155","https://openalex.org/W2788030459","https://openalex.org/W2842089854","https://openalex.org/W2850053679","https://openalex.org/W3007165070","https://openalex.org/W3023846712","https://openalex.org/W3030526828","https://openalex.org/W3081791272","https://openalex.org/W3211059337","https://openalex.org/W4241576174","https://openalex.org/W4313563020","https://openalex.org/W4317796297","https://openalex.org/W4386038399","https://openalex.org/W4386702919","https://openalex.org/W4387682164","https://openalex.org/W4388505239","https://openalex.org/W4389665580","https://openalex.org/W4405022995","https://openalex.org/W4410086554","https://openalex.org/W4412981868"],"related_works":["https://openalex.org/W4388251424","https://openalex.org/W2008498579","https://openalex.org/W2923272690","https://openalex.org/W2559825912","https://openalex.org/W2064963663","https://openalex.org/W1966935220","https://openalex.org/W3100731831","https://openalex.org/W1992956164","https://openalex.org/W2775028049","https://openalex.org/W2087283056"],"abstract_inverted_index":{"One":[0],"of":[1,46,67,107,173,180],"the":[2,10,18,22,44,57,64,73,108,113,116,127,159,163,168,171,174,178,181],"primary":[3],"challenges":[4],"in":[5,69],"quadrupedal":[6,28,187],"locomotion":[7],"pertains":[8],"to":[9,13,17,30,101,125,166],"robot\u2019s":[11,74],"ability":[12],"adapt":[14],"its":[15],"gait":[16,38,47],"surrounding":[19],"environment":[20],"and":[21,35,62,91,97,129,136,148,189],"desired":[23],"task.":[24],"This":[25],"capability":[26],"allows":[27],"robots":[29,188],"select":[31],"suitable":[32],"foothold":[33],"locations":[34],"adjust":[36],"their":[37],"for":[39,158],"optimal":[40],"performance.":[41],"We":[42,94,111,176],"address":[43],"problem":[45],"adaptation":[48],"using":[49,115],"trajectory":[50],"optimization":[51,114],"(TO),":[52],"which":[53,70],"takes":[54],"into":[55,132],"account":[56],"simplified":[58],"switched":[59],"system\u2019s":[60],"dynamics":[61],"optimizes":[63],"different":[65,186,191],"phases":[66],"motion":[68,106],"we":[71,138],"split":[72],"movement.":[75],"The":[76,154],"robot":[77,165],"dynamic":[78],"model":[79,90],"is":[80],"a":[81,87,103,140],"single":[82],"rigid":[83,88],"body":[84],"(SRB)":[85],"with":[86],"contact":[89,96],"foot":[92],"positions.":[93],"apply":[95],"friction":[98],"cone":[99],"constraints":[100],"ensure":[102],"physically":[104],"feasible":[105],"real":[109,164],"robot.":[110],"tackle":[112],"direct":[117],"multiple":[118],"shooting":[119],"(DMS)":[120],"method.":[121],"Leveraging":[122],"kinematic":[123],"inversion":[124],"map":[126],"base":[128],"feet":[130],"positions":[131],"joint":[133],"positions,":[134],"velocities,":[135],"accelerations,":[137],"design":[139],"controller":[141,156],"that":[142],"combines":[143],"iterative":[144,155],"learning":[145],"control":[146],"(ILC)":[147],"proportional":[149],"derivative":[150],"(PD)":[151],"feedback":[152],"control.":[153],"compensates":[157],"sim-to-real":[160],"gap,":[161],"allowing":[162],"learn":[167],"task":[169],"during":[170],"execution":[172],"latter.":[175],"evaluate":[177],"performance":[179],"proposed":[182],"approach":[183],"on":[184,190],"two":[185],"terrains.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
