{"id":"https://openalex.org/W4313584459","doi":"https://doi.org/10.3390/robotics12010006","title":"Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots","display_name":"Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots","publication_year":2023,"publication_date":"2023-01-03","ids":{"openalex":"https://openalex.org/W4313584459","doi":"https://doi.org/10.3390/robotics12010006"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12010006","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12010006","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/robotics12010006","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083020442","display_name":"Angelo Bratta","orcid":"https://orcid.org/0000-0002-1306-9344"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I4210139705","display_name":"Ingegneria dei Sistemi (Italy)","ror":"https://ror.org/03spsm219","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210139705"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Angelo Bratta","raw_affiliation_strings":["Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), Universit\u00e0 di Genova, 16126 Genova, Italy","Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT), 16163 Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1306-9344","affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), Universit\u00e0 di Genova, 16126 Genova, Italy","institution_ids":["https://openalex.org/I4210139705"]},{"raw_affiliation_string":"Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT), 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070148842","display_name":"Michele Focchi","orcid":"https://orcid.org/0000-0002-4888-5595"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Michele Focchi","raw_affiliation_strings":["Dipartimento di Ingegneria e Scienza dell\u2019Informazione (DISI), Universit\u00e0 di Trento, 38123 Trento, Italy","Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT), 16163 Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4888-5595","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria e Scienza dell\u2019Informazione (DISI), Universit\u00e0 di Trento, 38123 Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT), 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076433192","display_name":"Niraj Rathod","orcid":"https://orcid.org/0000-0002-1077-3504"},"institutions":[{"id":"https://openalex.org/I127077003","display_name":"IMT School for Advanced Studies Lucca","ror":"https://ror.org/035gh3a49","country_code":"IT","type":"education","lineage":["https://openalex.org/I127077003"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Niraj Rathod","raw_affiliation_strings":["Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT), 16163 Genova, Italy","IMT School for Advanced Studies Lucca, 55100 Lucca, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT), 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IMT School for Advanced Studies Lucca, 55100 Lucca, Italy","institution_ids":["https://openalex.org/I127077003"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010033061","display_name":"Claudio Semini","orcid":"https://orcid.org/0000-0002-3034-4686"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Semini","raw_affiliation_strings":["Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT), 16163 Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3034-4686","affiliations":[{"raw_affiliation_string":"Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT), 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070148842","https://openalex.org/A5083020442"],"corresponding_institution_ids":["https://openalex.org/I193223587","https://openalex.org/I30771326","https://openalex.org/I4210139705"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.073,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.73048209,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"12","issue":"1","first_page":"6","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":0.9997000098228455,"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":0.9997000098228455,"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":0.9986000061035156,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9829000234603882,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6843476295471191},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6733009815216064},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6507284641265869},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6494774222373962},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6229146122932434},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5459855794906616},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.5425184369087219},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5365291833877563},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5192041993141174},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5064643621444702},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.48651474714279175},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4309472441673279},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.42592653632164},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4166262745857239},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33228015899658203},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22748643159866333},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22319379448890686},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1194467842578888},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.07470005750656128}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6843476295471191},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6733009815216064},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6507284641265869},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6494774222373962},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6229146122932434},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5459855794906616},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.5425184369087219},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5365291833877563},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5192041993141174},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5064643621444702},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.48651474714279175},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4309472441673279},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.42592653632164},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4166262745857239},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33228015899658203},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22748643159866333},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22319379448890686},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1194467842578888},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.07470005750656128},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/robotics12010006","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12010006","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:iris.unige.it:11567/1106160","is_oa":true,"landing_page_url":"https://hdl.handle.net/11567/1106160","pdf_url":"https://iris.unige.it/bitstream/11567/1106160/1/bratta23mdpi.pdf","source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:iris.unitn.it:11572/374247","is_oa":true,"landing_page_url":"https://hdl.handle.net/11572/374247","pdf_url":"https://iris.unitn.it/bitstream/11572/374247/1/bratta20mdpi.pdf","source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"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":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:c0b5cb4f43d34931bed3a2c4944f2078","is_oa":true,"landing_page_url":"https://doaj.org/article/c0b5cb4f43d34931bed3a2c4944f2078","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 12, Iss 1, p 6 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/1/6/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12010006","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Robotics; Volume 12; Issue 1; Pages: 6","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12010006","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12010006","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6363274097","display_name":null,"funder_award_id":"PON Research and Innovation 2014-2020 DM1062/2021","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6870533126","display_name":null,"funder_award_id":"2014-2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7707682992","display_name":null,"funder_award_id":"DM1062/2021","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8457091022","display_name":null,"funder_award_id":"2014-2020 DM1062/2021","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320316214","display_name":"Scuola IMT Alti Studi Lucca","ror":"https://ror.org/035gh3a49"},{"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":35,"referenced_works":["https://openalex.org/W1968159474","https://openalex.org/W2037729465","https://openalex.org/W2094444216","https://openalex.org/W2111904757","https://openalex.org/W2127578024","https://openalex.org/W2138136244","https://openalex.org/W2143729862","https://openalex.org/W2151301943","https://openalex.org/W2161427949","https://openalex.org/W2513988836","https://openalex.org/W2588016079","https://openalex.org/W2611551581","https://openalex.org/W2750656378","https://openalex.org/W2788030459","https://openalex.org/W2793991136","https://openalex.org/W2909331752","https://openalex.org/W2920812058","https://openalex.org/W2930359834","https://openalex.org/W2977389550","https://openalex.org/W2980794310","https://openalex.org/W3004201008","https://openalex.org/W3007035358","https://openalex.org/W3012148556","https://openalex.org/W3041567964","https://openalex.org/W3130162259","https://openalex.org/W3155272911","https://openalex.org/W3205625110","https://openalex.org/W3206363916","https://openalex.org/W3207305612","https://openalex.org/W3211963501","https://openalex.org/W4285102312","https://openalex.org/W4289522461","https://openalex.org/W4293160779","https://openalex.org/W4313639240","https://openalex.org/W6682407279"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W962423920"],"abstract_inverted_index":{"Model":[0],"predictive":[1],"control":[2],"(MPC)":[3],"approaches":[4],"are":[5,131,178],"widely":[6],"used":[7,132],"in":[8,45,125,144,200,204],"robotics,":[9],"because":[10],"they":[11],"guarantee":[12],"feasibility":[13],"and":[14,35,202],"allow":[15],"the":[16,22,32,39,42,63,80,83,110,118,136,140,157,165,169,172,182,187,190,194,208],"computation":[17],"of":[18,38,41,82,112,121,139,171,196],"updated":[19],"trajectories":[20,108,130],"while":[21,114],"robot":[23,56,188],"is":[24],"moving.":[25],"They":[26],"generally":[27],"require":[28],"heuristic":[29],"references":[30,134],"for":[31,109,135],"tracking":[33],"terms":[34],"proper":[36],"tuning":[37],"parameters":[40],"cost":[43,137,173],"function":[44,138],"order":[46],"to":[47,58,60,66,105,160,167,185],"obtain":[48],"good":[49],"performance.":[50],"For":[51],"instance,":[52],"when":[53],"a":[54,69,73,92,99,122,126,151,162],"legged":[55],"has":[57],"react":[59],"disturbances":[61],"from":[62],"environment":[64],"(e.g.,":[65,124],"recover":[67],"after":[68],"push)":[70],"or":[71],"track":[72],"specific":[74],"goal":[75,163],"with":[76,207],"statically":[77],"unstable":[78],"gaits,":[79],"effectiveness":[81,195],"algorithm":[84],"can":[85],"degrade.":[86],"In":[87,175],"this":[88],"work,":[89],"we":[90],"propose":[91],"novel":[93],"optimization-based":[94],"reference":[95,107,184],"generator":[96],"which":[97],"exploits":[98],"linear":[100],"inverted":[101],"pendulum":[102],"(LIP)":[103],"model":[104],"compute":[106],"center":[111],"mass":[113],"taking":[115],"into":[116],"account":[117],"possible":[119],"underactuation":[120],"gait":[123],"trot).":[127],"The":[128],"obtained":[129],"as":[133],"nonlinear":[141],"MPC":[142],"presented":[143],"our":[145,197],"previous":[146],"work.":[147],"We":[148,192],"also":[149],"present":[150],"formulation":[152],"that":[153],"ensures":[154],"guarantees":[155],"on":[156],"response":[158],"time":[159],"reach":[161],"without":[164],"need":[166],"tune":[168],"weights":[170],"terms.":[174],"addition,":[176],"footholds":[177],"corrected":[179],"by":[180],"using":[181],"optimized":[183],"drive":[186],"toward":[189],"goal.":[191],"demonstrate":[193],"approach":[198],"both":[199],"simulations":[201],"experiments":[203],"different":[205],"scenarios":[206],"Aliengo":[209],"robot.":[210]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4}],"updated_date":"2026-01-03T23:08:47.215875","created_date":"2025-10-10T00:00:00"}
