Paper Citation Record · LEDGER

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control

As of 21 August 2026, this Paper Citation Record lists 37 of 37 outbound references and 0 inbound Pith citation observations for arXiv:2504.18698.

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

pith.paper-citation-record.v1
2504.18698 v1

Coverage vector

measured 37 of 37 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-16T10:17:27.036840Z

measured 37 of 37 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-20T06:33:59.587034+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

37 of 37 outbound references displayed

verified exact3
verified fuzzy29
unresolved5
parse uncertain0
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External citation measurements

No source-named external measurement is stored.

Outbound references

Observation f94a9ada-2da6-468d-b80f-a2c20a7f660b · outbound

This paper cites Dynamic Walking: Toward Agile and Efficient Bipedal Robots,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Dynamic Walking: Toward Agile and Efficient Bipedal Robots,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.506080Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 265f6b95-bc8f-4a02-9e23-bcc00ff99ab1 · outbound

This paper cites The organization of human postural movements: a formal basis and experimental synthesis,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control The organization of human postural movements: a formal basis and experimental synthesis,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.493637Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 802b72d3-04fa-4e96-86f6-2557db0b3f9f · outbound

This paper cites Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.482019Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 8b93be06-5e90-4666-abe8-e92e5c874ded · outbound

This paper cites Humanoid Balancing Behavior Featured by Underactuated Foot Motion,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Humanoid Balancing Behavior Featured by Underactuated Foot Motion,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.470738Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation f95f3ebc-438f-45cb-b49a-3b76f57169ae · outbound

This paper cites Push Recovery by stepping for humanoid robots with force controlled joints,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Push Recovery by stepping for humanoid robots with force controlled joints,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.458405Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation c8ff3f27-32a7-436a-b29a-6cb613174c71 · outbound

This paper cites Biped walking pattern generation by using preview control of zero-moment point,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Biped walking pattern generation by using preview control of zero-moment point,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.446983Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation a21f6e53-97db-4cbe-8aae-81df14a21abf · outbound

This paper cites Zero-moment point — thirty five years of its life,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Zero-moment point — thirty five years of its life,

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-16T10:17:26.918976Z

Source-reported events for the cited work

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Observation cf3ae4fb-48ba-42b0-a7f7-8701c8ca7f3e · outbound

This paper cites Provably Stabilizing Global-Position Tracking Control for Hybrid Models of Multi-Domain Bipedal Walking via Multiple Lyapunov Analysis.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Provably Stabilizing Global-Position Tracking Control for Hybrid Models of Multi-Domain Bipedal Walking via Multiple Lyapunov Analysis

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.427799Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 3660b728-ed1b-4991-a9b4-b87f8cdb7186 · outbound

This paper cites Online walking gait generation with adaptive foot positioning through Linear Model Predictive control,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Online walking gait generation with adaptive foot positioning through Linear Model Predictive control,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.414823Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 15be207a-fee2-4186-8524-0299651ca070 · outbound

This paper cites Ro- bust bipedal locomotion control based on model predictive control and divergent component of motion,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Ro- bust bipedal locomotion control based on model predictive control and divergent component of motion,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.402665Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation f441d084-51b5-4b33-b1ea-45a38cd7d7e3 · outbound

This paper cites an unresolved cited work.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Unresolved cited work

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-16T10:17:26.934550Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b8465aa5-6d03-401c-bd95-fbf7e4fbcf77 · outbound

This paper cites Velocity-Based Stability Margins for Fast Bipedal Walking,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Velocity-Based Stability Margins for Fast Bipedal Walking,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.383679Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation b8156266-4d84-43b3-a8c0-e29a93669d9e · outbound

This paper cites Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-16T10:17:26.941944Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 594ae085-2442-4b87-9407-05c3906fe5ef · outbound

This paper cites 3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control 3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.372757Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 3ee382ea-177c-40e0-8fb3-2bb8e9b8c654 · outbound

This paper cites Control of ATRIAS in three dimen- sions: Walking as a forced-oscillation problem,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Control of ATRIAS in three dimen- sions: Walking as a forced-oscillation problem,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.361893Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation e4530025-2e62-4067-9460-9d1fe379b6f5 · outbound

This paper cites Models, feedback control, and open problems of 3D bipedal robotic walking,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Models, feedback control, and open problems of 3D bipedal robotic walking,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.349586Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 0c595da9-0a7b-4f79-8124-5bfcaf59d3fd · outbound

This paper cites Bipedal Walking on Constrained Footholds with MPC Footstep Control.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Bipedal Walking on Constrained Footholds with MPC Footstep Control

Reference 17

Resolution: verified exact; local_arxiv, observed 2026-08-16T10:17:27.113461Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation dbc63aeb-e6c0-496d-b5af-89f40e02ca76 · outbound

This paper cites Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control

Reference 18

Resolution: verified exact; local_arxiv, observed 2026-08-16T10:17:27.094517Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation be71a1ac-d7ed-42f1-b464-bb389145b504 · outbound

This paper cites Footstep Adjustment for Biped Push Recovery on Slippery Surfaces.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Footstep Adjustment for Biped Push Recovery on Slippery Surfaces

Reference 19

Resolution: verified exact; local_arxiv, observed 2026-08-16T10:17:27.075672Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 05a22073-7267-43f0-9231-3373e600c743 · outbound

This paper cites Walking stabilization using step timing and location adjustment on the humanoid robot, Atlas,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Walking stabilization using step timing and location adjustment on the humanoid robot, Atlas,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.337176Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation efd132b2-46ea-4636-bcca-1b0b5f224327 · outbound

This paper cites Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Lo- comotion,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Lo- comotion,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.325542Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 83759f44-4efb-43ca-9711-5ce1810bef5a · outbound

This paper cites Walking Control Based on Step Timing Adaptation,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Walking Control Based on Step Timing Adaptation,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.313182Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 08debf6d-8607-4cd9-b445-39c6d5f8142d · outbound

This paper cites On- line regeneration of bipedal walking gait pattern optimizing footstep placement and timing,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control On- line regeneration of bipedal walking gait pattern optimizing footstep placement and timing,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.300065Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation c385b9e7-87e6-4067-9f07-b51e651d6fb9 · outbound

This paper cites Multi-domain walking with reduced- order models of locomotion,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Multi-domain walking with reduced- order models of locomotion,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.286929Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 3df718c2-d147-4272-a7ee-d162ad32ba8c · outbound

This paper cites Human-data based cost of bipedal robotic walking,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Human-data based cost of bipedal robotic walking,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.274868Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 414b192a-3c36-4f6e-88c0-85f602df87a6 · outbound

This paper cites Once-Per-Step Control of Ankle Push- Off Work Improves Balance in a Three-Dimensional Simulation of Bipedal Walking,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Once-Per-Step Control of Ankle Push- Off Work Improves Balance in a Three-Dimensional Simulation of Bipedal Walking,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.262948Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 290854df-58d5-4fd8-8c16-17d8e8a78519 · outbound

This paper cites Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.251237Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 0dae90d5-2d17-4799-95d0-00d59006b930 · outbound

This paper cites Centroidal dynamics of a humanoid robot,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Centroidal dynamics of a humanoid robot,

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.239162Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 3c1d156c-800a-44d4-bdc2-1e04ae9ad7b7 · outbound

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

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control CasADi – A software framework for nonlinear optimization and optimal control,

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-16T10:17:27.005163Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 50ba5c9a-82a3-41ab-af53-263d2cc75626 · outbound

This paper cites On the implementation of an interior- point filter line-search algorithm for large-scale nonlinear program- ming,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control On the implementation of an interior- point filter line-search algorithm for large-scale nonlinear program- ming,

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-16T10:17:27.010072Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 74f5e0b3-5261-47ee-9438-66b7aefd609e · outbound

This paper cites https://www.agilityrobotics.com/robots#cassie.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control https://www.agilityrobotics.com/robots#cassie

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.212629Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation f83e60de-fd90-48ad-96f8-8dfcddd92101 · outbound

This paper cites Quadratic Programming for Multirobot and Task-Space Force Control,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Quadratic Programming for Multirobot and Task-Space Force Control,

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.199936Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 3bcad358-7f28-4fde-9378-5ecb293e46cd · outbound

This paper cites https://github.com/osudrl/cassie-mujoco-sim, 2018.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control https://github.com/osudrl/cassie-mujoco-sim, 2018

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.186043Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 4595c8de-f662-4bd3-b4f8-7151701077a1 · outbound

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

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control MuJoCo: A physics engine for model-based control,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.174165Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 56b66837-c4f1-434c-9bba-2adb747110fb · outbound

This paper cites Two steps is enough: No need to plan far ahead for walking balance,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Two steps is enough: No need to plan far ahead for walking balance,

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.162100Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 3ab978a1-738d-45f0-9f35-5e56b50d7947 · outbound

This paper cites Terminology and forensic gait analysis,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Terminology and forensic gait analysis,

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.150895Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation c711f702-16ee-405d-b04c-c2fc445f21c4 · outbound

This paper cites Footstep Modification Including Step Time and Angular Momentum Under Disturbances on Sparse Footholds,.

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control Footstep Modification Including Step Time and Angular Momentum Under Disturbances on Sparse Footholds,

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:17:27.139503Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Pith citing papers

No inbound Pith citation observations are available.