{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,13]],"date-time":"2026-07-13T15:10:02Z","timestamp":1783955402905,"version":"3.55.0"},"reference-count":60,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Frontier Robotics, Innovative Research Excellence, Honda R&amp;D Co., Ltd."},{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"publisher","award":["N00014-18-1-2830"],"award-info":[{"award-number":["N00014-18-1-2830"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]},{"name":"NSF","award":["1830402"],"award-info":[{"award-number":["1830402"]}]},{"DOI":"10.13039\/100000185","name":"Defense Advanced Research Projects Agency","doi-asserted-by":"publisher","award":["D18AP00064"],"award-info":[{"award-number":["D18AP00064"]}],"id":[{"id":"10.13039\/100000185","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100015599","name":"Toyota Research Institute","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100015599","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2024]]},"DOI":"10.1109\/tro.2024.3351554","type":"journal-article","created":{"date-parts":[[2024,1,9]],"date-time":"2024-01-09T20:56:38Z","timestamp":1704833798000},"page":"1617-1629","source":"Crossref","is-referenced-by-count":82,"title":["Fast Contact-Implicit Model Predictive Control"],"prefix":"10.1109","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7430-8396","authenticated-orcid":false,"given":"Simon","family":"Le Cleac'h","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5144-5702","authenticated-orcid":false,"given":"Taylor A.","family":"Howell","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3291-9076","authenticated-orcid":false,"given":"Shuo","family":"Yang","sequence":"additional","affiliation":[{"name":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-5589-1596","authenticated-orcid":false,"given":"Chi-Yen","family":"Lee","sequence":"additional","affiliation":[{"name":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7442-5920","authenticated-orcid":false,"given":"John","family":"Zhang","sequence":"additional","affiliation":[{"name":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-3816-7268","authenticated-orcid":false,"given":"Arun","family":"Bishop","sequence":"additional","affiliation":[{"name":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7871-3663","authenticated-orcid":false,"given":"Mac","family":"Schwager","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3071-7091","authenticated-orcid":false,"given":"Zachary","family":"Manchester","sequence":"additional","affiliation":[{"name":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.806653"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2014.2299335"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560769"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197568"},{"key":"ref5","article-title":"Emergence of locomotion behaviours in rich environments","author":"Heess","year":"2017"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560935"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2798285"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3068908"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9479-3"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386109"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386025"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353843"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.677288"},{"key":"ref14","article-title":"Regularized predictive control framework for robust dynamic legged locomotion","author":"Bledt","year":"2020"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref16","article-title":"Unitree Go1 quadruped","year":"2022"},{"key":"ref17","doi-asserted-by":"crossref","DOI":"10.21236\/ADA225713","article-title":"Dynamically stable legged locomotion","author":"Raibert","year":"1989"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041375"},{"key":"ref19","article-title":"More Parkour Atlas","volume-title":"Boston Dyn.","year":"2019"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS47582.2021.9555782"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800124"},{"key":"ref22","article-title":"Highly dynamic quadruped locomotion via whole-body impulse control and model predictive control","author":"Kim","year":"2019"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3308773"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981476"},{"key":"ref25","article-title":"PyBullet, a Python module for physics simulation for games, robotics and machine learning","author":"Coumans","year":"20162019"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.21105\/joss.00500"},{"key":"ref27","first-page":"2279","article-title":"ContactNets: Learning discontinuous contact dynamics with smooth, implicit representations","volume-title":"Proc. Conf. Robot Learn.","author":"Pfrommer","year":"2021"},{"key":"ref28","article-title":"Rapidly computable viscous friction and no-slip rigid contact models","author":"Drumwright","year":"2015"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/0-306-48332-7_258"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/0167-6377(91)90010-M"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1080\/10556789508805606"},{"key":"ref32","volume-title":"Lezioni di Analisi Infinitesimale","volume":"1","author":"Dini","year":"1907"},{"key":"ref33","article-title":"Dojo: A differentiable physics engine for robotics","author":"Howell","year":"2022"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.034"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-0348-7539-4_10"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913506757"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-28619-4_66"},{"key":"ref38","first-page":"7178","article-title":"End-to-end differentiable physics for learning and control","volume":"31","author":"Belbute-Peres","year":"2018","journal-title":"Adv. Neural Inf. Process. Syst."},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-005-0590-7"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1145\/3414685.3417766"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(78)90001-8"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1115\/1.3653115"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2009.2017934"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-0207(19960815)39:15<2673::AID-NME972>3.0.CO;2-I"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1017\/S096249290100006X"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-10960-7_7"},{"key":"ref47","volume-title":"Numerical Optimization","author":"Nocedal","year":"2006"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1137\/0802028"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1007\/BF02071065"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/LES.2017.2700401"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1145\/1114268.1114277"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(98)00178-2"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2020.3007688"},{"key":"ref54","article-title":"Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots","author":"Pratt","year":"2000"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.680611"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206268"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979814"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-25555-7_34"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3152696"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594448"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/8860\/10365208\/10384795-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10365208\/10384795.pdf?arnumber=10384795","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,14]],"date-time":"2025-04-14T17:41:52Z","timestamp":1744652512000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10384795\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024]]},"references-count":60,"URL":"https:\/\/doi.org\/10.1109\/tro.2024.3351554","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024]]}}}