{"id":"https://openalex.org/W7134973189","doi":"https://doi.org/10.48550/arxiv.2603.08831","title":"Predictive Control with Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots","display_name":"Predictive Control with Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7134973189","doi":"https://doi.org/10.48550/arxiv.2603.08831"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.08831","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.08831","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.08831","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057666020","display_name":"Leila Amanzadeh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Amanzadeh, Leila","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058241639","display_name":"Taizoon Chunawala","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chunawala, Taizoon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013847154","display_name":"Randall T. Fawcett","orcid":"https://orcid.org/0000-0002-7704-2706"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fawcett, Randall T.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025620905","display_name":"Alexander Leonessa","orcid":"https://orcid.org/0000-0001-9317-2714"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leonessa, Alexander","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5066501467","display_name":"Kaveh Akbari Hamed","orcid":"https://orcid.org/0000-0001-9597-1691"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hamed, Kaveh Akbari","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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":0.9031999707221985,"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":0.9031999707221985,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.028200000524520874,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.025800000876188278,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.8439000248908997},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7386000156402588},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7077000141143799},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6401000022888184},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.60589998960495},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.551800012588501},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5238000154495239},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5063999891281128}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8439000248908997},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7386000156402588},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7077000141143799},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6401000022888184},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.60589998960495},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.551800012588501},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5238000154495239},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5063999891281128},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4900999963283539},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47839999198913574},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45019999146461487},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.42010000348091125},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41920000314712524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36980000138282776},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.33059999346733093},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3160000145435333},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3091999888420105},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.30480000376701355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29339998960494995},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.28859999775886536},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.26600000262260437}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.08831","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.08831","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.08831","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.08831","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5342845320701599,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"formally":[2],"develops":[3],"a":[4,19,26,66,99,156,164],"novel":[5],"hierarchical":[6],"planning":[7],"and":[8,132,159,174,192],"control":[9,22],"framework":[10],"for":[11,61,105],"robust":[12],"payload":[13,188],"transportation":[14],"by":[15,89],"quadrupedal":[16],"robots,":[17],"integrating":[18],"model":[20,49],"predictive":[21],"(MPC)":[23],"algorithm":[24,60],"with":[25,145,155],"gradient-descent-based":[27],"adaptive":[28,38,92],"updating":[29],"law.":[30],"At":[31],"the":[32,41,45,71,76,79,90,111,115,178],"framework's":[33,112],"high":[34],"level,":[35],"an":[36,58,160],"indirect":[37],"law":[39],"estimates":[40],"unknown":[42,121],"parameters":[43,55],"of":[44,78,147],"reduced-order":[46,86],"(template)":[47],"locomotion":[48],"under":[50],"varying":[51],"payloads.":[52],"These":[53],"estimated":[54],"feed":[56],"into":[57],"MPC":[59,72,93,158,162],"real-time":[62],"trajectory":[63],"planning,":[64],"incorporating":[65],"convex":[67],"stability":[68,77],"criterion":[69],"within":[70],"constraints":[73],"to":[74,98,125],"ensure":[75],"template":[80],"model's":[81],"estimation":[82],"error.":[83],"The":[84,138],"optimal":[85],"trajectories":[87],"generated":[88],"high-level":[91],"(AMPC)":[94],"are":[95],"then":[96],"passed":[97],"low-level":[100],"nonlinear":[101],"whole-body":[102],"controller":[103],"(WBC)":[104],"tracking.":[106],"Extensive":[107],"numerical":[108],"investigations":[109],"validate":[110],"capabilities,":[113],"showcasing":[114],"robot's":[116],"proficiency":[117],"in":[118,127,172],"transporting":[119],"unmodeled,":[120],"static":[122],"payloads":[123,144],"up":[124],"109%":[126],"experiments":[128,170],"on":[129,134,150,181],"flat":[130],"terrains":[131,183],"91%":[133],"rough":[135,151,182],"experimental":[136],"terrains.":[137,152],"robot":[139],"also":[140],"successfully":[141],"manages":[142],"dynamic":[143],"73%":[146],"its":[148],"mass":[149],"Performance":[153],"comparisons":[154],"normal":[157],"L1":[161],"indicate":[163],"significant":[165],"improvement.":[166],"Furthermore,":[167],"comprehensive":[168],"hardware":[169],"conducted":[171],"indoor":[173],"outdoor":[175],"environments":[176],"confirm":[177],"method's":[179],"efficacy":[180],"despite":[184],"uncertainties":[185],"such":[186],"as":[187],"variations,":[189],"push":[190],"disturbances,":[191],"obstacles.":[193]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-12T00:00:00"}
