{"id":"https://openalex.org/W7167287326","doi":"https://doi.org/10.48550/arxiv.2607.01574","title":"Multi-Rate Nonlinear Model Predictive Control for Wall-Supported Bipedal Locomotion of Quadrupedal Robots","display_name":"Multi-Rate Nonlinear Model Predictive Control for Wall-Supported Bipedal Locomotion of Quadrupedal Robots","publication_year":2026,"publication_date":"2026-07-02","ids":{"openalex":"https://openalex.org/W7167287326","doi":"https://doi.org/10.48550/arxiv.2607.01574"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.01574","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.01574","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.2607.01574","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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/A5004930845","display_name":"Jeeseop Kim","orcid":"https://orcid.org/0000-0003-4028-2359"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, Jeeseop","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139947281","display_name":"Kaveh Akbari Hamed","orcid":null},"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":0.9897000193595886,"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":0.9897000193595886,"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":0.002099999925121665,"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":0.0015999999595806003,"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/control-theory","display_name":"Control theory (sociology)","score":0.8104000091552734},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6462000012397766},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6259999871253967},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5878000259399414},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.554099977016449},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5491999983787537},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.5346999764442444},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.46000000834465027},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.45840001106262207},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.44110000133514404}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8104000091552734},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6462000012397766},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6259999871253967},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5878000259399414},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.554099977016449},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5491999983787537},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.5346999764442444},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5188999772071838},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.46000000834465027},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.45840001106262207},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.44110000133514404},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4117000102996826},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4009999930858612},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.37119999527931213},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36329999566078186},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.34290000796318054},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.32350000739097595},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.32109999656677246},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.3118000030517578},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3102000057697296},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.3093000054359436},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2962999939918518},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2881999909877777},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2831999957561493},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.2777000069618225},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2702000141143799},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2694999873638153},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.26579999923706055},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.01574","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.01574","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.2607.01574","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.01574","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2,39],"a":[3,119,155,165,192,205,216],"novel":[4],"layered":[5],"planning":[6,129],"and":[7,53,64,78,109,116,164,171,200],"control":[8,16,92,134,153],"framework":[9],"based":[10,160],"on":[11,161,197],"multi-rate":[12,132],"nonlinear":[13,69,156],"model":[14],"predictive":[15],"(MR-NMPC)":[17],"that":[18,211],"enables":[19],"quadrupedal":[20,195],"robots":[21],"to":[22,142,223],"perform":[23],"hybrid":[24],"bipedal":[25,189],"locomotion":[26,38,190],"with":[27,226],"wall-assisted":[28,188],"support":[29],"in":[30,204,231],"constrained":[31,206],"environments.":[32],"Real-time":[33],"trajectory":[34],"optimization":[35],"for":[36,48,73],"this":[37,136],"significant":[40],"challenges,":[41],"as":[42],"the":[43,50,54,58,67,79,83,87,91,102,106,110,114,131,148,152,173,186,212],"controller":[44,158],"must":[45],"simultaneously":[46],"plan":[47],"both":[49,101],"contact":[51,75,107],"points":[52,108],"continuous":[55],"trajectories":[56,104,112],"of":[57,61,82,90,105,113,151,191],"robot's":[59,68,84],"center":[60],"mass":[62],"(CoM)":[63],"orientation":[65],"within":[66,130],"dynamics":[70,124,170],"while":[71],"accounting":[72],"unilateral":[74],"constraints,":[76],"underactuation,":[77],"switching":[80],"nature":[81],"dynamics.":[85],"At":[86,147],"high":[88,236],"level":[89,150],"framework,":[93,135,154],"an":[94],"MR-NMPC":[95,174,214],"is":[96,179],"proposed,":[97],"which":[98],"dynamically":[99],"plans":[100],"discrete-time":[103],"continuous-time":[111],"CoM":[115],"orientation,":[117],"using":[118],"single":[120],"rigid":[121],"body":[122],"(SRB)":[123],"model.":[125],"By":[126],"incorporating":[127],"contact-point":[128],"optimal":[133],"approach":[137,178],"enhances":[138],"dynamic":[139],"stability":[140],"compared":[141,222],"heuristic":[143],"foot":[144,228],"placement":[145,229],"strategies.":[146],"low":[149],"whole-body":[157],"(WBC)":[159],"virtual":[162],"constraints":[163],"quadratic":[166],"program":[167],"enforces":[168],"full-order":[169],"tracks":[172],"references.":[175],"The":[176],"proposed":[177,213],"validated":[180],"through":[181],"extensive":[182],"numerical":[183],"simulations":[184],"demonstrating":[185],"robust":[187],"Unitree":[193],"A1":[194],"robot":[196],"rough":[198],"terrains":[199],"under":[201],"external":[202],"disturbances":[203],"environment.":[207],"Comparative":[208],"analysis":[209],"shows":[210],"achieves":[215],"2.9":[217],"times":[218],"higher":[219],"success":[220],"rate":[221],"conventional":[224],"MPC":[225],"heuristic-based":[227],"strategies":[230],"negotiating":[232],"irregular":[233],"terrain":[234],"at":[235],"speeds.":[237]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-04T00:00:00"}