{"id":"https://openalex.org/W4380183591","doi":"https://doi.org/10.1016/j.robot.2023.104468","title":"Adaptive legged manipulation: Versatile disturbance predictive control for quadruped robots with robotic arms","display_name":"Adaptive legged manipulation: Versatile disturbance predictive control for quadruped robots with robotic arms","publication_year":2023,"publication_date":"2023-06-10","ids":{"openalex":"https://openalex.org/W4380183591","doi":"https://doi.org/10.1016/j.robot.2023.104468"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2023.104468","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2023.104468","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063350266","display_name":"Qingfeng Yao","orcid":"https://orcid.org/0000-0003-4600-0076"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingfeng Yao","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Shenyang, 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China","University of Chinese Academy of Sciences, Beijing, 100049, China"],"raw_orcid":"https://orcid.org/0000-0003-4600-0076","affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Shenyang, 110169, China","institution_ids":["https://openalex.org/I142078773"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101672440","display_name":"Cong Wang","orcid":"https://orcid.org/0000-0002-2316-2331"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cong Wang","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Shenyang, 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China","University of Chinese Academy of Sciences, Beijing, 100049, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Shenyang, 110169, China","institution_ids":["https://openalex.org/I142078773"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100660343","display_name":"Jilong Wang","orcid":"https://orcid.org/0000-0002-4082-0463"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jilong Wang","raw_affiliation_strings":["School of Engineering, Westlake University, Hangzhou, 310024, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Westlake University, Hangzhou, 310024, China","institution_ids":["https://openalex.org/I3133055985"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101710500","display_name":"Linghan Meng","orcid":"https://orcid.org/0009-0001-5955-840X"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linghan Meng","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Shenyang, 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China","University of Chinese Academy of Sciences, Beijing, 100049, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Shenyang, 110169, China","institution_ids":["https://openalex.org/I142078773"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017126063","display_name":"Shuyu Yang","orcid":"https://orcid.org/0000-0002-0537-7515"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuyu Yang","raw_affiliation_strings":["School of Engineering, Westlake University, Hangzhou, 310024, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Westlake University, Hangzhou, 310024, China","institution_ids":["https://openalex.org/I3133055985"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101461838","display_name":"Qifeng Zhang","orcid":"https://orcid.org/0000-0002-9795-3013"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qifeng Zhang","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Shenyang, 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Shenyang, 110169, China","institution_ids":["https://openalex.org/I142078773"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100665183","display_name":"Donglin Wang","orcid":"https://orcid.org/0000-0003-1359-6440"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Donglin Wang","raw_affiliation_strings":["School of Engineering, Westlake University, Hangzhou, 310024, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Westlake University, Hangzhou, 310024, China","institution_ids":["https://openalex.org/I3133055985"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100665183","https://openalex.org/A5101461838"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I3133055985"],"apc_list":{"value":3020,"currency":"USD","value_usd":3020},"apc_paid":null,"fwci":1.073,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.739164,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"167","issue":null,"first_page":"104468","last_page":"104468"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9916999936103821,"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/T11663","display_name":"Viral Infectious Diseases and Gene Expression in Insects","score":0.9768999814987183,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8419608473777771},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.641258716583252},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.591147780418396},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5349655747413635},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5244622230529785},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.5154410600662231},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4178650379180908},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3754955530166626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3512597680091858},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3390732407569885},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3347036838531494},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2558410167694092}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8419608473777771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.641258716583252},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.591147780418396},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5349655747413635},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5244622230529785},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.5154410600662231},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4178650379180908},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3754955530166626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3512597680091858},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3390732407569885},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3347036838531494},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2558410167694092},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","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":1,"locations":[{"id":"doi:10.1016/j.robot.2023.104468","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2023.104468","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W2145339207","https://openalex.org/W2793991136","https://openalex.org/W2809054577","https://openalex.org/W2885550588","https://openalex.org/W2909331752","https://openalex.org/W2910781732","https://openalex.org/W2911087563","https://openalex.org/W2925761457","https://openalex.org/W3010768390","https://openalex.org/W3011016396","https://openalex.org/W3041078985","https://openalex.org/W3087867916","https://openalex.org/W3093922502","https://openalex.org/W3099547539","https://openalex.org/W3104464522","https://openalex.org/W3104876774","https://openalex.org/W3105570727","https://openalex.org/W3108883557","https://openalex.org/W3111294788","https://openalex.org/W3112664346","https://openalex.org/W3140042148","https://openalex.org/W3142410314","https://openalex.org/W3147567656","https://openalex.org/W3205803864","https://openalex.org/W3207637958","https://openalex.org/W3208467102","https://openalex.org/W3209862138","https://openalex.org/W3210549225","https://openalex.org/W4205430897","https://openalex.org/W4214634122","https://openalex.org/W4250465584","https://openalex.org/W4287325598","https://openalex.org/W4300797747","https://openalex.org/W4376502752","https://openalex.org/W4400518895","https://openalex.org/W6602187859","https://openalex.org/W6683145514","https://openalex.org/W6700903186","https://openalex.org/W6716296916","https://openalex.org/W6734089800","https://openalex.org/W6738087714","https://openalex.org/W6747473740","https://openalex.org/W6747804845","https://openalex.org/W6762920251","https://openalex.org/W6768729103"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2248228605","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W2153353177","https://openalex.org/W3156121563","https://openalex.org/W2355389557"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6}],"updated_date":"2026-02-03T00:53:05.648605","created_date":"2025-10-10T00:00:00"}
