{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T12:32:20Z","timestamp":1780317140701,"version":"3.54.1"},"reference-count":33,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2020,7,1]],"date-time":"2020-07-01T00:00:00Z","timestamp":1593561600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,7,1]],"date-time":"2020-07-01T00:00:00Z","timestamp":1593561600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,7,1]],"date-time":"2020-07-01T00:00:00Z","timestamp":1593561600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001711","name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001711","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Centres of Competence in Research Robotics and Digital Fabrication"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2020,7]]},"DOI":"10.1109\/lra.2020.2990720","type":"journal-article","created":{"date-parts":[[2020,4,27]],"date-time":"2020-04-27T19:51:03Z","timestamp":1588017063000},"page":"4172-4179","source":"Crossref","is-referenced-by-count":98,"title":["Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain"],"prefix":"10.1109","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3866-8538","authenticated-orcid":false,"given":"Vivian S.","family":"Medeiros","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Edo","family":"Jelavic","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9123-3920","authenticated-orcid":false,"given":"Marko","family":"Bjelonic","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2760-7983","authenticated-orcid":false,"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marco A.","family":"Meggiolaro","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4285-4990","authenticated-orcid":false,"given":"Marco","family":"Hutter","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref33","article-title":"Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations","author":"melon","year":"0","journal-title":"Proc IEEE Int Conf Robot Automat (ICRA)"},{"key":"ref32","first-page":"17","article-title":"State estimation for legged robots - consistent fusion of leg kinematics and IMU","author":"bloesch","year":"2012","journal-title":"Proc Robot Sci Syst"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-26054-9_5"},{"key":"ref30","doi-asserted-by":"crossref","DOI":"10.1007\/s10514-012-9321-0","article-title":"OctoMap: An efficient probabilistic 3D mapping framework based on octrees","author":"hornung","year":"2013","journal-title":"Autonomous Robots"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206310"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594509"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967631"},{"key":"ref13","article-title":"Handle, mobile box handling robots for logistics","year":"2019"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793792"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2899750"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2979661"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2896721"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/CDC40024.2019.9029417"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201368"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-004-0559-y"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904047392"},{"key":"ref27","article-title":"Ifopt - A modern, light-weight, Eigen-based C++ interface to Nonlinear Programming solvers Ipopt and Snopt","author":"winkler","year":"2018"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21808"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2009.10.007"},{"key":"ref29","article-title":"Open dynamics engine","author":"smith","year":"2008"},{"key":"ref5","first-page":"315","article-title":"Octopus&#x2014;an autonomous wheeled climbing robot","author":"lauria","year":"0","journal-title":"Proc 5th Int Conf Climb Walk Robot"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224645"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487777"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.5194\/ms-3-49-2012"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094857"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7758092"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.2514\/3.20223"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2798285"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913506757"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2794620"},{"key":"ref23","article-title":"Kindr library kinematics and dynamics for robotics","author":"gehring","year":"2016"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1076\/0042-3114(200001)33:1;1-5;FT029"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2849506"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9059055\/09079567.pdf?arnumber=9079567","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T17:33:23Z","timestamp":1651080803000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9079567\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,7]]},"references-count":33,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/lra.2020.2990720","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,7]]}}}