{"id":"https://openalex.org/W7134821218","doi":"https://doi.org/10.48550/arxiv.2603.07999","title":"Dual-Horizon Hybrid Internal Model for Low-Gravity Quadrupedal Jumping with Hardware-in-the-Loop Validation","display_name":"Dual-Horizon Hybrid Internal Model for Low-Gravity Quadrupedal Jumping with Hardware-in-the-Loop Validation","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7134821218","doi":"https://doi.org/10.48550/arxiv.2603.07999"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.07999","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037829687","display_name":"Haozhe Xu","orcid":"https://orcid.org/0009-0002-9179-2105"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xu, Haozhe","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128649449","display_name":"Yifei Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Yifei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128662754","display_name":"Wenhao Feng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng, Wenhao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128661647","display_name":"Zhipeng Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhipeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000024164","display_name":"Hongrui Sang","orcid":"https://orcid.org/0000-0002-8026-1328"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sang, Hongrui","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128687838","display_name":"Cheng Cheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng, Cheng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037854048","display_name":"Xiuxian Li","orcid":"https://orcid.org/0000-0002-4938-0468"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xiuxian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100343710","display_name":"Zhen Yin","orcid":"https://orcid.org/0000-0002-1252-7809"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yin, Zhen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128638878","display_name":"Bin He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Bin","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5037829687"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.8978000283241272,"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":0.8978000283241272,"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":0.014100000262260437,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.007000000216066837,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/quadrupedalism","display_name":"Quadrupedalism","score":0.691100001335144},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6793000102043152},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4781999886035919},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4708000123500824},{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.44830000400543213},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.445499986410141},{"id":"https://openalex.org/keywords/emulation","display_name":"Emulation","score":0.4244000017642975},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.399399995803833}],"concepts":[{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.691100001335144},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6793000102043152},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5460000038146973},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4781999886035919},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4724999964237213},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4708000123500824},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.44830000400543213},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.445499986410141},{"id":"https://openalex.org/C149810388","wikidata":"https://www.wikidata.org/wiki/Q5374873","display_name":"Emulation","level":2,"score":0.4244000017642975},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.399399995803833},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.3982999920845032},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.39559999108314514},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.3763999938964844},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3716999888420105},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.3553999960422516},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.3375000059604645},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.33660000562667847},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.323199987411499},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.30869999527931213},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.2937000095844269},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.28459998965263367},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2651999890804291},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.26080000400543213},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.25999999046325684},{"id":"https://openalex.org/C99695388","wikidata":"https://www.wikidata.org/wiki/Q350514","display_name":"Raised-relief map","level":3,"score":0.2551000118255615},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.25360000133514404}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.07999","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.07999","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.07999","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.07999","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Locomotion":[0],"under":[1,74,124,183],"reduced":[2],"gravity":[3,14,76,153],"is":[4],"commonly":[5],"realized":[6],"through":[7,154],"jumping,":[8],"yet":[9],"continuous":[10,71,122,177],"pronking":[11],"in":[12,170],"lunar":[13,75,130,162],"remains":[15],"challenging":[16],"due":[17],"to":[18,164],"prolonged":[19],"flight":[20],"phases":[21,127],"and":[22,34,53,58,108,121,158,168],"sparse":[23],"ground":[24],"contact.":[25],"The":[26,116],"extended":[27,125],"aerial":[28,126],"duration":[29],"increases":[30],"landing":[31],"impact":[32],"sensitivity":[33],"makes":[35],"stable":[36,120],"attitude":[37],"regulation":[38],"over":[39],"rough":[40],"planetary":[41],"terrain":[42,163],"difficult.":[43],"Existing":[44],"approaches":[45],"primarily":[46],"address":[47],"single":[48],"jumps":[49],"on":[50],"flat":[51],"surfaces":[52],"lack":[54],"both":[55],"continuous-terrain":[56],"solutions":[57],"realistic":[59],"hardware":[60],"validation.":[61],"This":[62],"work":[63],"presents":[64],"a":[65,88,101,148,155,165,180],"Dual-Horizon":[66],"Hybrid":[67],"Internal":[68],"Model":[69],"for":[70,143],"quadrupedal":[72],"jumping":[73,123,178],"using":[77],"proprioceptive":[78],"sensing":[79],"only.":[80],"Two":[81],"temporal":[82],"encoders":[83],"capture":[84],"complementary":[85],"time":[86],"scales:":[87],"short-horizon":[89],"branch":[90,103],"models":[91,104],"rapid":[92],"vertical":[93,97],"dynamics":[94],"with":[95],"explicit":[96],"velocity":[98],"estimation,":[99],"while":[100],"long-horizon":[102],"horizontal":[105],"motion":[106,166],"trends":[107],"center-of-mass":[109],"height":[110],"evolution":[111],"across":[112,186],"the":[113,138],"jump":[114],"cycle.":[115],"fused":[117],"representation":[118],"enables":[119],"characteristic":[128],"of":[129,179],"gravity.":[131],"To":[132],"provide":[133],"hardware-in-the-loop":[134],"validation,":[135],"we":[136,175],"develop":[137],"MATRIX":[139],"(Mixed-reality":[140],"Adaptive":[141],"Testbed":[142],"Robotic":[144],"Integrated":[145],"eXploration)":[146],"platform,":[147],"digital-twin-driven":[149],"system":[150],"that":[151],"offloads":[152],"pulley-counterweight":[156],"mechanism":[157],"maps":[159],"Unreal":[160],"Engine":[161],"platform":[167],"treadmill":[169],"real":[171],"time.":[172],"Using":[173],"MATRIX,":[174],"demonstrate":[176],"quadruped":[181],"robot":[182],"lunar-gravity":[184],"emulation":[185],"cratered":[187],"lunar-like":[188],"terrain.":[189]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-11T00:00:00"}