{"id":"https://openalex.org/W4367623898","doi":"https://doi.org/10.3390/robotics12030067","title":"A Data-Driven Model Predictive Control for Quadruped Robot Steering on Slippery Surfaces","display_name":"A Data-Driven Model Predictive Control for Quadruped Robot Steering on Slippery Surfaces","publication_year":2023,"publication_date":"2023-05-01","ids":{"openalex":"https://openalex.org/W4367623898","doi":"https://doi.org/10.3390/robotics12030067"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12030067","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030067","pdf_url":"https://www.mdpi.com/2218-6581/12/3/67/pdf?version=1682936778","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://www.mdpi.com/2218-6581/12/3/67/pdf?version=1682936778","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024616914","display_name":"Paolo Arena","orcid":"https://orcid.org/0000-0002-1050-5729"},"institutions":[{"id":"https://openalex.org/I39063666","display_name":"University of Catania","ror":"https://ror.org/03a64bh57","country_code":"IT","type":"education","lineage":["https://openalex.org/I39063666"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Paolo Arena","raw_affiliation_strings":["DIEEI, University of Catania, 95125 Catania, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1050-5729","affiliations":[{"raw_affiliation_string":"DIEEI, University of Catania, 95125 Catania, Italy","institution_ids":["https://openalex.org/I39063666"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076504909","display_name":"Luca Patan\u00e9","orcid":"https://orcid.org/0000-0002-5488-9365"},"institutions":[{"id":"https://openalex.org/I112862951","display_name":"University of Messina","ror":"https://ror.org/05ctdxz19","country_code":"IT","type":"education","lineage":["https://openalex.org/I112862951"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Luca Patan\u00e8","raw_affiliation_strings":["Department of Engineering, University of Messina, 98122 Messina, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5488-9365","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Messina, 98122 Messina, Italy","institution_ids":["https://openalex.org/I112862951"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000536475","display_name":"Salvatore Taffara","orcid":null},"institutions":[{"id":"https://openalex.org/I39063666","display_name":"University of Catania","ror":"https://ror.org/03a64bh57","country_code":"IT","type":"education","lineage":["https://openalex.org/I39063666"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Salvatore Taffara","raw_affiliation_strings":["DIEEI, University of Catania, 95125 Catania, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIEEI, University of Catania, 95125 Catania, Italy","institution_ids":["https://openalex.org/I39063666"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024616914","https://openalex.org/A5076504909"],"corresponding_institution_ids":["https://openalex.org/I112862951","https://openalex.org/I39063666"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.7511,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.6640349,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"12","issue":"3","first_page":"67","last_page":"67"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.980400025844574,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/terrain","display_name":"Terrain","score":0.6979089975357056},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6457622051239014},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6378238201141357},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6366695165634155},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.575096607208252},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5724340677261353},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5681741237640381},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.47723057866096497},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4473167061805725},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4252532124519348},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40325403213500977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3940529227256775},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3681616485118866},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.293335884809494},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2748829126358032},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23597729206085205}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6979089975357056},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6457622051239014},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6378238201141357},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6366695165634155},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.575096607208252},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5724340677261353},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5681741237640381},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.47723057866096497},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4473167061805725},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4252532124519348},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40325403213500977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3940529227256775},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3681616485118866},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.293335884809494},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2748829126358032},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23597729206085205},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics12030067","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030067","pdf_url":"https://www.mdpi.com/2218-6581/12/3/67/pdf?version=1682936778","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:doaj.org/article:8a66cba4581a4ecfba78981fa20b86d8","is_oa":true,"landing_page_url":"https://doaj.org/article/8a66cba4581a4ecfba78981fa20b86d8","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 3, p 67 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/3/67/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12030067","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 3; Pages: 67","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12030067","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030067","pdf_url":"https://www.mdpi.com/2218-6581/12/3/67/pdf?version=1682936778","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4367623898.pdf"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1967108937","https://openalex.org/W1977022860","https://openalex.org/W2016910258","https://openalex.org/W2050426505","https://openalex.org/W2068484625","https://openalex.org/W2082511574","https://openalex.org/W2087884651","https://openalex.org/W2115669646","https://openalex.org/W2144928438","https://openalex.org/W2487469909","https://openalex.org/W2523760000","https://openalex.org/W2536334821","https://openalex.org/W2571154759","https://openalex.org/W2586152377","https://openalex.org/W2771691050","https://openalex.org/W2902191924","https://openalex.org/W2908534815","https://openalex.org/W2963415778","https://openalex.org/W2968213087","https://openalex.org/W3022993269","https://openalex.org/W3048200640","https://openalex.org/W3104730803","https://openalex.org/W3119903755","https://openalex.org/W3125600127","https://openalex.org/W3189223768","https://openalex.org/W3206363916","https://openalex.org/W3217287880","https://openalex.org/W4205401334","https://openalex.org/W4308325163","https://openalex.org/W4321380998","https://openalex.org/W6642366397","https://openalex.org/W6727484515","https://openalex.org/W6741417115"],"related_works":["https://openalex.org/W1529815557","https://openalex.org/W2115792513","https://openalex.org/W2786412097","https://openalex.org/W4281926472","https://openalex.org/W2921572638","https://openalex.org/W1514516386","https://openalex.org/W3090033167","https://openalex.org/W3001478067","https://openalex.org/W2244041639","https://openalex.org/W4283640879"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,18,69,89,99,104],"locomotion":[4,27],"and":[5,28,51,78,115],"steering":[6,29,41,121],"control":[7,30,42],"of":[8,20,101,106],"a":[9,34,48,52,58,74,79,107],"simulated":[10],"Mini":[11],"Cheetah":[12],"quadruped":[13],"robot":[14,70,117],"was":[15,65,126],"investigated":[16],"in":[17,57,95,98],"presence":[19,100],"terrain":[21],"characterised":[22],"by":[23,46],"low":[24],"friction.":[25],"Low-level":[26],"were":[31,44],"implemented":[32,45],"via":[33],"central":[35],"pattern":[36],"generator":[37],"approach,":[38],"whereas":[39,88],"high-level":[40],"manoeuvres":[43],"comparing":[47],"neural":[49,82,108],"network":[50,109],"linear":[53,75,90],"model":[54,71],"predictive":[55,110],"controller":[56,111],"dynamic":[59],"simulation":[60],"environment.":[61],"A":[62,123],"data-driven":[63],"approach":[64,91],"adopted":[66],"to":[67],"identify":[68],"using":[72,129],"both":[73],"transfer":[76],"function":[77],"shallow":[80],"artificial":[81],"network.":[83],"The":[84],"results":[85],"demonstrate":[86],"that,":[87],"showed":[92],"good":[93],"performance":[94,131],"high-friction":[96],"terrain,":[97],"slippery":[102],"conditions,":[103],"application":[105],"improved":[112],"trajectory":[113],"accuracy":[114],"preserved":[116],"safety":[118],"with":[119],"different":[120],"manoeuvres.":[122],"comparative":[124],"analysis":[125],"carried":[127],"out":[128],"several":[130],"indices.":[132]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-01-20T17:24:06.736184","created_date":"2023-05-02T00:00:00"}