{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T16:06:35Z","timestamp":1777651595666,"version":"3.51.4"},"reference-count":74,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"European Commission under the Horizon 2020","award":["780684"],"award-info":[{"award-number":["780684"]}]},{"name":"Natural Intelligence","award":["101016970"],"award-info":[{"award-number":["101016970"]}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100018187","name":"Offshore Robotics for Certification of Assets","doi-asserted-by":"publisher","award":["EP\/R026173\/1"],"award-info":[{"award-number":["EP\/R026173\/1"]}],"id":[{"id":"10.13039\/100018187","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100012338","name":"Alan Turing Institute","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100012338","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2023,8]]},"DOI":"10.1109\/tro.2023.3262186","type":"journal-article","created":{"date-parts":[[2023,4,12]],"date-time":"2023-04-12T17:37:05Z","timestamp":1681321025000},"page":"3222-3241","source":"Crossref","is-referenced-by-count":40,"title":["Inverse-Dynamics MPC via Nullspace Resolution"],"prefix":"10.1109","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0725-4279","authenticated-orcid":false,"given":"Carlos","family":"Mastalli","sequence":"first","affiliation":[{"name":"School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh, U.K."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1187-3689","authenticated-orcid":false,"given":"Saroj Prasad","family":"Chhatoi","sequence":"additional","affiliation":[{"name":"Centro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3829-0096","authenticated-orcid":false,"given":"Thomas","family":"Corb\u00e9res","sequence":"additional","affiliation":[{"name":"School of Informatics, University of Edinburgh, Edinburgh, U.K."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3001-8693","authenticated-orcid":false,"given":"Steve","family":"Tonneau","sequence":"additional","affiliation":[{"name":"School of Informatics, University of Edinburgh, Edinburgh, U.K."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0649-7241","authenticated-orcid":false,"given":"Sethu","family":"Vijayakumar","sequence":"additional","affiliation":[{"name":"School of Informatics, University of Edinburgh, Edinburgh, U.K."}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-36119-0_20"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353843"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800124"},{"key":"ref5","doi-asserted-by":"crossref","DOI":"10.21203\/rs.3.rs-1870369\/v1","article-title":"Agile maneuvers in legged robots: A predictive control approach","author":"Mastalli","year":"2022"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1080\/00207176608921369"},{"key":"ref7","article-title":"Perceptive locomotion through full-dynamics MPC and optimal region selection","author":"Corbres","year":"2023"},{"key":"ref8","volume-title":"Practical Methods for Optimal Control and Estimation Using Nonlinear Programming","author":"Betts","year":"2009"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.038"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759420"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2908502"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560742"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561109"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561306"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386181"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2018.8624925"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1098\/rspa.1992.0158"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-022-10061-w"},{"key":"ref19","article-title":"EIGEN v3","author":"Guennebaud","year":"2010"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/CCA.2013.6662901"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1137\/s0036144504446096"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/0-387-30065-1_4"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-004-0559-y"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-004-0560-5"},{"key":"ref25","article-title":"A catalogue of subroutines","year":"2011"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2006.321375"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651022"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594448"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197488"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197312"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3118957"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8246930"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968251"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560976"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981790"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-36119-0_4"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196673"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1016\/0045-7825(72)90018-7"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/sii.2019.8700380"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907751"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1007\/BF00934767"},{"key":"ref42","article-title":"A framework for sparse non-linear least squares problems on manifolds","author":"Frese","year":"2008"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1090\/s0002-9904-1954-09848-8"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989016"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.56021\/9781421407944"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8239538"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386025"},{"key":"ref48","volume-title":"Numerical Optimization","author":"Nocedal","year":"2006"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1137\/S1052623497325107"},{"key":"ref50","article-title":"A modified Marquardt subroutine for non-linear least squares","author":"Fletcher","year":"1971"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967788"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561339"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/icra46639.2022.9811647"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2021.3049416"},{"key":"ref55","article-title":"Advantages of differential dynamic programming over Newtons method for discrete-time optimal control problems","author":"zhi Liao","year":"1992"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913506757"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041375"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487664"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3183785"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041373"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2779821"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197371"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561510"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910388677"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989131"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460731"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3003464"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1142\/9789814623353_0051"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981539"},{"key":"ref70","article-title":"A tutorial on SE(3) transformation parameterizations and on-manifold optimization","author":"Blanco","year":"2010"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803330"},{"key":"ref72","first-page":"181","article-title":"Asymptotic stability and feedback stabilization","volume-title":"Proc. Differ. Geometric Control Theory","author":"Brockett","year":"1983"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224628"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7758092"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10214173\/10101674.pdf?arnumber=10101674","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,3,1]],"date-time":"2024-03-01T01:44:13Z","timestamp":1709257453000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10101674\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8]]},"references-count":74,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tro.2023.3262186","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,8]]}}}