{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,13]],"date-time":"2026-06-13T16:25:59Z","timestamp":1781367959729,"version":"3.54.1"},"reference-count":38,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T00:00:00Z","timestamp":1740787200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T00:00:00Z","timestamp":1740787200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T00:00:00Z","timestamp":1740787200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Italian National Institute for Insurance against Accidents at Work"},{"name":"Honda Research and Development Japan"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2025,3]]},"DOI":"10.1109\/lra.2025.3536296","type":"journal-article","created":{"date-parts":[[2025,1,30]],"date-time":"2025-01-30T19:23:46Z","timestamp":1738265026000},"page":"2806-2813","source":"Crossref","is-referenced-by-count":15,"title":["Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots"],"prefix":"10.1109","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3446-288X","authenticated-orcid":false,"given":"Mohamed","family":"Elobaid","sequence":"first","affiliation":[{"name":"Artificial and Mechanical Intelligence (AMI), Istituto Italiano di Tecnologia (IIT), Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3007-3553","authenticated-orcid":false,"given":"Giulio","family":"Turrisi","sequence":"additional","affiliation":[{"name":"Dynamic Legged Systems (DLS), Istituto Italiano di Tecnologia IIT, Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3071-9676","authenticated-orcid":false,"given":"Lorenzo","family":"Rapetti","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence (AMI), Istituto Italiano di Tecnologia (IIT), Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6461-3231","authenticated-orcid":false,"given":"Giulio","family":"Romualdi","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence (AMI), Istituto Italiano di Tecnologia (IIT), Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1575-5188","authenticated-orcid":false,"given":"Stefano","family":"Dafarra","sequence":"additional","affiliation":[{"name":"Artificial and Mechanical Intelligence (AMI), Istituto Italiano di Tecnologia (IIT), Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-7557-2564","authenticated-orcid":false,"given":"Tomohiro","family":"Kawakami","sequence":"additional","affiliation":[{"name":"Frontier Robotics, Innovative Research Excellence, Honda R&D, Saitama, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tomohiro","family":"Chaki","sequence":"additional","affiliation":[{"name":"Frontier Robotics, Innovative Research Excellence, Honda R&D, Saitama, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5388-9291","authenticated-orcid":false,"given":"Takahide","family":"Yoshiike","sequence":"additional","affiliation":[{"name":"Frontier Robotics, Innovative Research Excellence, Honda R&D, Saitama, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3034-4686","authenticated-orcid":false,"given":"Claudio","family":"Semini","sequence":"additional","affiliation":[{"name":"Dynamic Legged Systems (DLS), Istituto Italiano di Tecnologia IIT, Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7600-3203","authenticated-orcid":false,"given":"Daniele","family":"Pucci","sequence":"additional","affiliation":[{"name":"Machine Learning and Optimisation, The University of Manchester, Manchester, U.K."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161454"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10801456"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843616500079"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2018.8625025"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696723"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202223"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR53236.2021.9659380"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650772"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968251"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10801698"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811670"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161086"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2007.4813931"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570360"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1307217"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363867"},{"key":"ref17","doi-asserted-by":"crossref","DOI":"10.1007\/BFb0044771","volume-title":"Foundations of Adaptive Control","author":"Kokotovi","year":"1991"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/9.40741"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(89)90094-0"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.1991.4791451"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-01159-2_12"},{"key":"ref22","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2020.XVI.098","article-title":"Nonlinear model predictive control of robotic systems with control Lyapunov functions","volume-title":"Proc. Robot. Sci. Syst.","author":"Grandia","year":"2020"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3128697"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46024-6_3"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2958483"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids43949.2019.9035068"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2023.2168134"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3046415"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3381554"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3299527"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759126"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84628-615-5"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2019.11.811"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adh3834"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-018-0139-4"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-004-0559-y"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-021-00208-8"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/10849592\/10858392.pdf?arnumber=10858392","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,20]],"date-time":"2025-02-20T20:39:05Z","timestamp":1740083945000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10858392\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,3]]},"references-count":38,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/lra.2025.3536296","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,3]]}}}