Paper Citation Record · LEDGER

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing

As of 19 August 2026, this Paper Citation Record lists 38 of 38 outbound references and 0 inbound Pith citation observations for arXiv:2505.13715.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2505.13715 v1

Coverage vector

measured 38 of 38 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-15T20:14:26.421192Z

measured 38 of 38 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-19T06:32:44.657259+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

38 of 38 outbound references displayed

verified exact2
verified fuzzy25
unresolved11
parse uncertain0
malformed identifier0
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External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 471c375e-c618-4954-850d-42e085b49b8a · outbound

This paper cites Optimization-based control for dynamic legged robots,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Optimization-based control for dynamic legged robots,

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-15T20:14:26.252167Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 09d28d7b-4f02-46fa-b8e1-4fefda7e9fa7 · outbound

This paper cites Control of mobile robots using barrier functions under temporal logic specifications,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Control of mobile robots using barrier functions under temporal logic specifications,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.957272Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 9c91528a-27af-4f48-8494-33c2fc42468a · outbound

This paper cites Safe navigation in human occupied environments using sampling and control barrier functions,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Safe navigation in human occupied environments using sampling and control barrier functions,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.941935Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 4c4e1e6e-1704-4e6b-bfa4-7ceae95d6b5d · outbound

This paper cites Avoiding dynamic obstacles with real-time motion planning using quadratic programming for varied locomotion modes,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Avoiding dynamic obstacles with real-time motion planning using quadratic programming for varied locomotion modes,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.927263Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 842db8fb-65c5-4d68-a729-32a5a3cdfb54 · outbound

This paper cites Motion Planning around Obstacles with Convex Optimization.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Motion Planning around Obstacles with Convex Optimization

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-15T20:14:26.275164Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation cbc36866-b21d-496b-a5c4-f754cdb6df31 · outbound

This paper cites Collision- free mpc for legged robots in static and dynamic scenes,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Collision- free mpc for legged robots in static and dynamic scenes,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.913464Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 3bd1e3f9-050a-4de8-9372-dba06f48341a · outbound

This paper cites Autonomous navigation for quadrupedal robots with optimized jumping through constrained obstacles,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Autonomous navigation for quadrupedal robots with optimized jumping through constrained obstacles,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.899227Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 2040a9e0-e510-40e1-bef8-c5c5e88deb97 · outbound

This paper cites Multi-layered safety for legged robots via control barrier functions and model predictive control,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Multi-layered safety for legged robots via control barrier functions and model predictive control,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.884612Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation bba16dab-f68c-41b8-ab6e-c58cb8e1c493 · outbound

This paper cites Efficient anytime clf reactive planning system for a bipedal robot on undulating terrain,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Efficient anytime clf reactive planning system for a bipedal robot on undulating terrain,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.870968Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation ccf4dfaf-c69d-4b84-be24-23c4fae02d97 · outbound

This paper cites Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control

Reference 10

Resolution: verified exact; local_arxiv, observed 2026-08-15T20:14:26.508681Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 500e7f98-e016-497b-95e7-66839d9f7b0c · outbound

This paper cites Real-time path planning in unknown environments for bipedal robots,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Real-time path planning in unknown environments for bipedal robots,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.857604Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 77015035-6410-40ee-a3a6-51d5684a8fea · outbound

This paper cites The 3d linear inverted pendulum mode: a simple modeling for a biped walking pattern generation,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing The 3d linear inverted pendulum mode: a simple modeling for a biped walking pattern generation,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.844060Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 147910d9-821b-4926-b092-560830832f92 · outbound

This paper cites One-step ahead prediction of angular mo- mentum about the contact point for control of bipedal locomotion: Validation in a lip-inspired controller,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing One-step ahead prediction of angular mo- mentum about the contact point for control of bipedal locomotion: Validation in a lip-inspired controller,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.829610Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 38f978fa-b9cd-4ddf-80fc-3e497e870c47 · outbound

This paper cites The spring-mass model for running and hopping,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing The spring-mass model for running and hopping,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.815602Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 4c295196-6b4d-4e73-b78f-2e4332812079 · outbound

This paper cites Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments

Reference 15

Resolution: verified exact; local_arxiv, observed 2026-08-15T20:14:26.487798Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation fb5182eb-d51d-497c-ad08-424b9a10f839 · outbound

This paper cites Risk-averse control via cvar barrier functions: Application to bipedal robot locomotion,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Risk-averse control via cvar barrier functions: Application to bipedal robot locomotion,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.800731Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 9335973f-f699-48ba-a13c-516544e820f9 · outbound

This paper cites Mpc- based humanoid pursuit-evasion in the presence of obstacles,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Mpc- based humanoid pursuit-evasion in the presence of obstacles,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.784887Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation f5acfd9d-5cdd-430b-9c17-89fd091cc1c9 · outbound

This paper cites Real-time dynamic bipedal avoidance,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Real-time dynamic bipedal avoidance,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.770240Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation bbd2bf49-12d3-4b95-a64a-d653b3ab14bf · outbound

This paper cites A sequential mpc approach to reactive planning for bipedal robots using safe corridors in highly cluttered environments,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing A sequential mpc approach to reactive planning for bipedal robots using safe corridors in highly cluttered environments,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.754662Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 7864ab3c-70f4-4ecf-be12-396e968cbe24 · outbound

This paper cites Walking control based on step timing adaptation,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Walking control based on step timing adaptation,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.739965Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 052cf8ce-c5fd-417d-a47f-c5b220128926 · outbound

This paper cites Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-15T20:14:26.347871Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5e07c013-daa5-4d93-a164-db19fa245fee · outbound

This paper cites Kinematic optimization for bipedal robots: a framework for real-time collision avoidance,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Kinematic optimization for bipedal robots: a framework for real-time collision avoidance,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.725426Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation dd1e63fe-cb35-4709-96e5-25a8372bf14d · outbound

This paper cites A generic optimization-based framework for reactive collision avoidance in bipedal locomotion,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing A generic optimization-based framework for reactive collision avoidance in bipedal locomotion,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.710173Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 2acad316-8073-4e68-86bb-34004d12cb48 · outbound

This paper cites Discrete control barrier functions for safety-critical control of discrete systems with application to bipedal robot navigation,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Discrete control barrier functions for safety-critical control of discrete systems with application to bipedal robot navigation,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.694643Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 01ebedc0-315b-4861-a6f9-29a797f34a34 · outbound

This paper cites Tailoring solution accuracy for fast whole-body model predictive control of legged robots,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Tailoring solution accuracy for fast whole-body model predictive control of legged robots,

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-15T20:14:26.365029Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5e0b2b0f-0ea6-44f6-a5f1-ccad9346e58d · outbound

This paper cites Footstep planning for autonomous walking over rough ter- rain,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Footstep planning for autonomous walking over rough ter- rain,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.668641Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 1bfdab46-137f-4220-9f7b-bdf40e071294 · outbound

This paper cites Handling non-convex constraints in mpc-based humanoid gait gen- eration,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Handling non-convex constraints in mpc-based humanoid gait gen- eration,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.653081Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation e7fe83bf-8076-425a-ba31-d33102c3d11b · outbound

This paper cites Bipedal walking on constrained footholds with mpc footstep control,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Bipedal walking on constrained footholds with mpc footstep control,

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.637151Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 11a7db55-d7ce-4eca-99cc-8eade3b90f04 · outbound

This paper cites Footstep planning on uneven terrain with mixed-integer convex optimization,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Footstep planning on uneven terrain with mixed-integer convex optimization,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.622065Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 7e8b0d64-0814-4635-9e4c-240bcf65e45a · outbound

This paper cites Solving footstep planning as a feasibility problem using l1-norm minimization,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Solving footstep planning as a feasibility problem using l1-norm minimization,

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.608313Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 19af3be1-a111-4905-95b9-d745e0bf7c0e · outbound

This paper cites Fast online trajectory optimization for the bipedal robot cassie,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Fast online trajectory optimization for the bipedal robot cassie,

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:14:26.592519Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 5487bb4c-01eb-4c33-8b9c-f88dbab4d921 · outbound

This paper cites Gurobi Optimizer Reference Manual,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Gurobi Optimizer Reference Manual,

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-15T20:14:26.394464Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1692920e-7003-41e8-80c0-70296e1d7e19 · outbound

This paper cites Mujoco: A physics engine for model-based control,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Mujoco: A physics engine for model-based control,

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-15T20:14:26.403143Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 032905b4-2ea7-4304-89a6-d58b8e3ffdb9 · outbound

This paper cites Contact- aided invariant extended kalman filtering for robot state estimation,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Contact- aided invariant extended kalman filtering for robot state estimation,

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-15T20:14:26.407878Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 074cad03-1e28-4962-83cc-400d674d1de3 · outbound

This paper cites OSQP: an operator splitting solver for quadratic programs,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing OSQP: an operator splitting solver for quadratic programs,

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-15T20:14:26.411445Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 43e7e5a1-55a0-4876-b506-dea2dec98ec5 · outbound

This paper cites CasADi – A software framework for nonlinear optimization and optimal control,.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing CasADi – A software framework for nonlinear optimization and optimal control,

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-15T20:14:26.416468Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f631bbe7-242b-4acc-b426-e10ff7d0ae7e · outbound

This paper cites Robotic operating system.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Robotic operating system

Reference 37

Resolution: unresolved; no resolver link, observed 2026-08-15T20:14:26.421192Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4c6a6193-a1ae-4585-9b57-5708ffdf24b7 · outbound

This paper cites Available: https://www.gurobi.com.

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing Available: https://www.gurobi.com

Reference 2024

Resolution: unresolved; no resolver link, observed 2026-08-15T20:14:26.398972Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

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