Model predictive control of legged and humanoid robots: models and algorithms
Model predictive control (MPC) of legged and humanoid robotic systems has been an active research topic in the past decade. While MPC for robotic systems has a long history, its paradigm such as problem formulations and algorithms has changed along with the recent drastic progress in robot hardware,...
Gespeichert in:
| Veröffentlicht in: | Advanced robotics Jg. 37; H. 5; S. 298 - 315 |
|---|---|
| Hauptverfasser: | , , |
| Format: | Journal Article |
| Sprache: | Englisch |
| Veröffentlicht: |
Taylor & Francis
04.03.2023
|
| Schlagworte: | |
| ISSN: | 0169-1864, 1568-5535 |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| Abstract | Model predictive control (MPC) of legged and humanoid robotic systems has been an active research topic in the past decade. While MPC for robotic systems has a long history, its paradigm such as problem formulations and algorithms has changed along with the recent drastic progress in robot hardware, computational processors, and algorithms. This survey paper reviews recent progress on MPC for legged and humanoid robotics from the following three points of view. First, we review a variety of dynamical models of robotic systems used in the MPC formulation. Second, we give an overview of MPC algorithms, particularly focusing on suitable ones for robotic problems. Finally, we introduce methods and applications of MPC for practical robotic problems from MPC based on reduced-order models to recent progress on MPC based on whole-body models. |
|---|---|
| AbstractList | Model predictive control (MPC) of legged and humanoid robotic systems has been an active research topic in the past decade. While MPC for robotic systems has a long history, its paradigm such as problem formulations and algorithms has changed along with the recent drastic progress in robot hardware, computational processors, and algorithms. This survey paper reviews recent progress on MPC for legged and humanoid robotics from the following three points of view. First, we review a variety of dynamical models of robotic systems used in the MPC formulation. Second, we give an overview of MPC algorithms, particularly focusing on suitable ones for robotic problems. Finally, we introduce methods and applications of MPC for practical robotic problems from MPC based on reduced-order models to recent progress on MPC based on whole-body models. |
| Author | Katayama, Sotaro Tazaki, Yuichi Murooka, Masaki |
| Author_xml | – sequence: 1 givenname: Sotaro surname: Katayama fullname: Katayama, Sotaro email: katayama.25w@st.kyoto-u.ac.jp organization: Kyoto University – sequence: 2 givenname: Masaki surname: Murooka fullname: Murooka, Masaki organization: CNRS-AIST JRL, IRL – sequence: 3 givenname: Yuichi surname: Tazaki fullname: Tazaki, Yuichi organization: Graduate School of Engineering, Kobe University |
| BackLink | https://hal.science/hal-04745643$$DView record in HAL |
| BookMark | eNqFkMFOwzAMhiMEEtvgEZB65dDhNEmbwgWEgCENcYFz5KbJFpQ2KClDe3sogwsHOFmyv8-W_ynZ70NvCDmhMKcg4QxoWVNZ8nkBBZsXtJSU8T0yoaKUuRBM7JPJyOQjdEimKb0AgOSsmpCHh9Aan71G0zo9uI3JdOiHGHwWbObNamXaDPs2W7912AfXZjE0YUjnWTd66WuGfhWiG9ZdOiIHFn0yx991Rp5vb56uF_ny8e7--mqZa05hyOsCK02RS0N5KUXdcFY2lTaMGd3Iuma6FgKANQhQlBJaKbBoq8IitWCtZjNyutu7Rq9eo-swblVApxZXSzX2gFdclJxt6Cd7sWN1DClFY5V2Aw5ufBOdVxTUmKL6SVGNKarvFD9t8cv-Ofefd7nzXG9D7PA9RN-qAbc-RBux1y4p9veKD3IZikw |
| CitedBy_id | crossref_primary_10_1016_j_nahs_2025_101625 crossref_primary_10_1109_ACCESS_2024_3522967 crossref_primary_10_1109_TASE_2024_3412111 crossref_primary_10_3390_app15115828 crossref_primary_10_1109_LRA_2025_3555898 crossref_primary_10_3390_act13100393 crossref_primary_10_1155_2024_6692666 crossref_primary_10_1371_journal_pone_0324720 crossref_primary_10_3390_math13010154 crossref_primary_10_1038_s41598_024_66104_y crossref_primary_10_3390_aerospace11121025 crossref_primary_10_3390_s24237652 crossref_primary_10_3390_app15158715 crossref_primary_10_1080_01691864_2024_2411684 crossref_primary_10_1007_s10015_024_00947_6 crossref_primary_10_1002_aisy_202400263 crossref_primary_10_1109_LRA_2024_3455907 crossref_primary_10_1016_j_ipm_2025_104363 crossref_primary_10_1007_s12555_024_1014_x crossref_primary_10_1016_j_jbiomech_2025_112916 crossref_primary_10_1109_LRA_2025_3536296 crossref_primary_10_1007_s11431_024_2872_7 crossref_primary_10_1109_TRO_2023_3324580 crossref_primary_10_1109_TRO_2025_3595674 |
| Cites_doi | 10.1109/ICRA40945.2020.9197488 10.1109/IROS40897.2019.8967788 10.1109/IROS.2014.6943014 10.23919/ECC51009.2020.9143593 10.1002/rob.21559 10.1109/SIMPAR.2016.7862380 10.1109/LRA.2022.3141194 10.1109/ICRA.2014.6907751 10.1109/HUMANOIDS.2016.7803333 10.1177/0278364912452673 10.1109/ICRA.2016.7487320 10.1109/ACCESS.2020.2980446 10.1109/IROS.2012.6386109 10.1137/S0036144504446096 10.1109/HUMANOIDS.2012.6651592 10.1109/ICRA48506.2021.9560795 10.1007/978-94-007-6046-2_48 10.1016/j.automatica.2008.06.011 10.1287/moor.25.1.1.15213 10.1109/AMC.2006.1631739 10.1109/IROS.2011.6094465 10.1109/ICRA46639.2022.9811796 10.1109/TRO.2018.2862902 10.1109/TAC.2020.2982585 10.1109/ICRA.2017.7989016 10.1007/s10107-011-0488-5 10.1109/IRDS.2002.1041675 10.1109/SII.2019.8700380 10.1016/j.robot.2004.07.007 10.1109/ICHR.2010.5686288 10.1017/S0962492913000032 10.1007/s12532-015-0081-7 10.1109/IROS.2014.6943129 10.1007/s10107-010-0342-1 10.1109/IROS.2017.8206418 10.1109/ICRA48506.2021.9561510 10.1007/s12532-018-0139-4 10.1109/SIMPAR.2018.8376281 10.1109/IROS.2018.8594448 10.1109/HUMANOIDS.2016.7803371 10.1177/0278364910387457 10.1016/j.automatica.2019.108560 10.1137/S0363012902400713 10.1109/LRA.2016.2518739 10.1109/LRA.2022.3149573 10.1109/LRA.2020.3007475 10.1016/j.ifacol.2017.08.291 10.1109/IROS51168.2021.9636371 10.1007/978-3-540-30301-5_17 10.1109/LRA.2019.2926664 10.1109/HUMANOIDS.2013.7029990 10.1109/IROS.2018.8593885 10.1145/2558904 10.1007/s10514-013-9341-4 10.1109/LRA.2019.2923967 10.1109/LRA.2016.2579741 10.1007/978-3-642-00196-3_37 10.1109/HUMANOIDS.2016.7803329 10.1145/1576246.1531387 10.1080/01691864.2020.1778524 10.1109/HUMANOIDS47582.2021.9555775 10.23919/ACC53348.2022.9867631 10.20965/jrm.2016.p0533 10.1109/ICRA48506.2021.9561961 10.15607/RSS.2021.XVII.017 10.1109/TRO.2019.2914350 10.1109/ACCESS.2021.3118957 10.1109/ICRA.2018.8460789 10.1109/IROS40897.2019.8967871 10.1109/ICRA.2019.8793865 10.1109/TRO.2015.2405592 10.1109/LRA.2018.2852785 10.1007/s12532-021-00208-8 10.1109/IROS.2018.8593888 10.1016/j.jprocont.2016.11.011 10.1109/HUMANOIDS.2018.8624925 10.1109/LRA.2017.2665685 10.1163/016918610X493552 10.15607/RSS.2020.XVI.077 10.1109/ICRA.2019.8793669 10.1109/ICAR.1991.240688 10.1109/IROS.2016.7758092 10.1109/LRA.2021.3128697 10.1109/HUMANOIDS.2014.7041473 10.1109/HUMANOIDS47582.2021.9555782 10.1109/TAC.2016.2625048 10.1016/j.ifacol.2020.12.1799 10.1109/HUMANOIDS.2015.7363464 10.1177/0278364918772893 10.1109/LRA.2021.3077858 10.1177/027836498300200102 10.23919/ECC.2019.8796242 10.1109/IROS.2017.8206322 10.1007/s10107-004-0559-y 10.1109/ICHR.2006.321375 10.1007/s43154-021-00059-0 10.1109/TAC.2020.3007688 10.1109/TAC.2020.3024161 10.1007/s12532-020-00179-2 10.1016/j.ifacol.2020.12.073 10.1109/LRA.2021.3098928 10.1109/HUMANOIDS.2015.7363473 10.1109/HUMANOIDS.2015.7363428 10.1109/HUMANOIDS.2014.7041347 10.1016/j.automatica.2003.11.005 10.1007/s10479-007-0176-2 10.1109/HUMANOIDS.2017.8246947 10.1109/ICRA40945.2020.9196673 10.1109/IROS.2015.7353843 10.1007/978-94-007-6046-2_32 10.1080/0020718508961156 10.21236/ADA609276 10.1109/ICRA.2017.7989401 10.1109/LRA.2018.2800124 10.1080/01691864.2020.1803128 10.1109/ROBOT.2007.363870 10.1109/ICRA48506.2021.9562066 10.1109/IROS.2017.8206176 10.1109/IROS.2016.7759790 10.1080/01691864.2021.1928543 10.1007/s12532-014-0071-1 10.1109/ICRA46639.2022.9811670 10.1109/ICRA46639.2022.9812120 10.1145/2185520.2185539 10.1177/0278364916653815 10.1109/IROS40897.2019.8968251 10.1115/1.3149599 10.1007/s10514-015-9479-3 10.1109/TRO.2019.2958483 10.15607/RSS.2020.XVI.098 10.1109/LRA.2021.3068908 10.1007/978-1-4899-7560-7 10.1109/TMECH.2009.2035112 10.23919/ACC.2019.8814833 10.23943/princeton/9780691153896.001.0001 10.1016/j.ifacol.2017.08.2175 10.1109/LRA.2021.3068695 10.1109/LRA.2022.3174367 10.1007/s11081-011-9176-9 10.1007/s10013-018-0311-1 10.1109/ICRA.2018.8460572 10.1109/9.704989 10.1109/HUMANOIDS.2017.8239538 10.1177/0278364913506757 10.1080/0020717021000023825 10.1109/IROS.2008.4650604 10.1109/ICRA.2014.6907116 10.1109/IROS40897.2019.8968028 10.1109/HUMANOIDS.2013.7029950 10.1109/TRO.2016.2623338 10.1109/TAC.2003.821417 10.1109/ICRA46639.2022.9811957 10.1109/ICRA.2019.8794273 10.1016/S1474-6670(17)61205-9 10.1007/978-94-007-6046-2_29 10.15607/RSS.2018.XIV.038 10.1080/00207179.2017.1316017 10.1109/HUMANOIDS.2017.8246930 10.1007/s00186-011-0355-4 10.1109/TAC.2016.2638961 10.1109/LRA.2022.3144767 10.1109/LRA.2019.2947001 10.1109/HUMANOIDS.2015.7363423 10.1109/IROS.2009.5354662 10.1109/Humanoids.2011.6100894 10.1109/ICRA48506.2021.9560742 10.1002/(SICI)1097-0207(19960815)39:15<2673::AID-NME972>3.0.CO;2-I 10.1080/00207179.2011.555883 10.1109/ICRA40945.2020.9197371 10.1109/IROS.2017.8206268 10.1109/IROS51168.2021.9635856 10.1109/IROS40897.2019.8968031 10.1109/HUMANOIDS.2012.6651549 10.1109/ICRA.2018.8461236 10.1023/A:1021711402723 10.1109/TCST.2009.2017934 10.1109/ICRA.2011.5979671 10.1109/HUMANOIDS.2014.7041375 |
| ContentType | Journal Article |
| Copyright | 2023 The Author(s) Published by Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan. 2023 Distributed under a Creative Commons Attribution 4.0 International License |
| Copyright_xml | – notice: 2023 The Author(s) Published by Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan. 2023 – notice: Distributed under a Creative Commons Attribution 4.0 International License |
| DBID | 0YH AAYXX CITATION 1XC |
| DOI | 10.1080/01691864.2023.2168134 |
| DatabaseName | Taylor & Francis Open Access CrossRef Hyper Article en Ligne (HAL) |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| Database_xml | – sequence: 1 dbid: 0YH name: Taylor & Francis Open Access url: https://www.tandfonline.com sourceTypes: Publisher |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering Computer Science |
| EISSN | 1568-5535 |
| EndPage | 315 |
| ExternalDocumentID | oai:HAL:hal-04745643v1 10_1080_01691864_2023_2168134 2168134 |
| Genre | Research Article |
| GroupedDBID | -~X .QJ 0BK 0R~ 0YH 23M 30N 4.4 5GY AAENE AAGDL AAHIA AAJMT AALDU AAMIU AAPUL AAQRR ABCCY ABDBF ABFIM ABJNI ABLIJ ABPAQ ABPEM ABTAI ABXUL ABXYU ACGFS ACTIO ACUHS ADCVX ADGTB ADMLS AEISY AENEX AEOZL AEPSL AEVUW AEYOC AFRVT AGDLA AGMYJ AHDZW AIJEM AIYEW AKBVH AKOOK ALMA_UNASSIGNED_HOLDINGS ALQZU AMFWP AQRUH AQTUD AVBZW AWYRJ BLEHA CCCUG CS3 DGEBU DKSSO EAP EBS EMK EPL EST ESX E~A E~B F5P GTTXZ H13 HF~ HZ~ H~P I-F IPNFZ J.P KYCEM LJTGL M4Z NX~ O9- P2P RIG RNANH ROSJB RTWRZ S-T SNACF TASJS TBQAZ TDBHL TEN TFL TFT TFW TTHFI TUROJ TUS UT5 ZGOLN ~S~ AAYXX CITATION 1XC |
| ID | FETCH-LOGICAL-c410t-92a7c1a48e146859b436b7ce33ecb8993c955003ba002680d85a2d72fa1f0ffc3 |
| IEDL.DBID | 0YH |
| ISICitedReferencesCount | 43 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000929079600001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 0169-1864 |
| IngestDate | Tue Oct 14 20:21:20 EDT 2025 Tue Nov 18 20:12:36 EST 2025 Sat Nov 29 02:28:43 EST 2025 Mon Oct 20 23:45:49 EDT 2025 |
| IsDoiOpenAccess | true |
| IsOpenAccess | true |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 5 |
| Language | English |
| License | open-access: http://creativecommons.org/licenses/by-nc-nd/4.0/: This is an Open Access article distributed under the terms of the Creative Commons Attribution-NonCommercial-NoDerivatives License (http://creativecommons.org/licenses/by-nc-nd/4.0/), which permits non-commercial re-use, distribution, and reproduction in any medium, provided the original work is properly cited, and is not altered, transformed, or built upon in any way. Distributed under a Creative Commons Attribution 4.0 International License: http://creativecommons.org/licenses/by/4.0 |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c410t-92a7c1a48e146859b436b7ce33ecb8993c955003ba002680d85a2d72fa1f0ffc3 |
| OpenAccessLink | https://www.tandfonline.com/doi/abs/10.1080/01691864.2023.2168134 |
| PageCount | 18 |
| ParticipantIDs | crossref_citationtrail_10_1080_01691864_2023_2168134 informaworld_taylorfrancis_310_1080_01691864_2023_2168134 hal_primary_oai_HAL_hal_04745643v1 crossref_primary_10_1080_01691864_2023_2168134 |
| PublicationCentury | 2000 |
| PublicationDate | 2023-03-04 |
| PublicationDateYYYYMMDD | 2023-03-04 |
| PublicationDate_xml | – month: 03 year: 2023 text: 2023-03-04 day: 04 |
| PublicationDecade | 2020 |
| PublicationTitle | Advanced robotics |
| PublicationYear | 2023 |
| Publisher | Taylor & Francis |
| Publisher_xml | – name: Taylor & Francis |
| References | CIT0072 CIT0071 CIT0192 CIT0074 CIT0073 CIT0076 CIT0075 CIT0111 CIT0077 CIT0110 CIT0070 CIT0191 CIT0190 CIT0113 CIT0079 CIT0112 CIT0115 CIT0114 CIT0117 CIT0116 CIT0119 CIT0118 CIT0083 CIT0085 CIT0084 CIT0087 CIT0120 CIT0086 CIT0001 CIT0089 CIT0122 CIT0088 CIT0121 CIT0081 CIT0080 CIT0003 CIT0124 CIT0123 CIT0005 CIT0126 CIT0004 CIT0125 CIT0007 CIT0128 CIT0006 CIT0127 CIT0009 CIT0008 CIT0129 CIT0094 CIT0093 CIT0096 CIT0095 CIT0010 CIT0098 CIT0131 CIT0097 CIT0130 CIT0012 CIT0133 CIT0011 CIT0099 CIT0132 CIT0090 CIT0091 CIT0014 CIT0135 CIT0013 CIT0134 CIT0016 CIT0137 CIT0015 CIT0136 CIT0018 CIT0017 CIT0138 CIT0019 CIT0140 CIT0021 CIT0142 CIT0020 CIT0141 CIT0023 CIT0144 CIT0022 CIT0143 Rawlings K (CIT0082) 2017 CIT0025 CIT0146 CIT0024 CIT0145 CIT0027 CIT0148 CIT0026 CIT0147 CIT0029 CIT0028 CIT0149 CIT0030 CIT0151 CIT0150 CIT0032 CIT0153 CIT0031 CIT0152 CIT0034 CIT0155 CIT0033 CIT0154 CIT0036 CIT0157 CIT0035 CIT0156 CIT0038 CIT0159 CIT0037 CIT0158 CIT0039 CIT0160 CIT0041 CIT0162 CIT0040 CIT0161 CIT0043 CIT0164 CIT0042 CIT0163 CIT0045 CIT0166 CIT0044 CIT0165 Frigerio M (CIT0172) 2016; 7 Semini C (CIT0002) 2011; 225 CIT0047 CIT0168 CIT0046 CIT0167 CIT0049 CIT0048 CIT0169 CIT0050 CIT0171 CIT0170 CIT0052 CIT0173 CIT0051 CIT0054 CIT0175 CIT0053 CIT0174 CIT0056 CIT0177 CIT0055 CIT0176 Morisawa M (CIT0139) 2020; 17 CIT0058 CIT0179 CIT0057 CIT0178 CIT0059 Jacobson DH (CIT0092) 1970 CIT0061 CIT0182 CIT0060 CIT0181 CIT0063 CIT0184 CIT0062 CIT0183 CIT0065 CIT0186 CIT0064 CIT0185 CIT0067 CIT0100 CIT0188 CIT0066 CIT0187 CIT0180 CIT0109 Nocedal J (CIT0078) 2006 CIT0069 CIT0102 CIT0068 CIT0101 CIT0189 CIT0104 CIT0103 CIT0106 CIT0105 CIT0108 CIT0107 |
| References_xml | – ident: CIT0034 doi: 10.1109/ICRA40945.2020.9197488 – ident: CIT0088 doi: 10.1109/IROS40897.2019.8967788 – ident: CIT0022 doi: 10.1109/IROS.2014.6943014 – ident: CIT0107 doi: 10.23919/ECC51009.2020.9143593 – ident: CIT0140 doi: 10.1002/rob.21559 – ident: CIT0166 doi: 10.1109/SIMPAR.2016.7862380 – ident: CIT0168 doi: 10.1109/LRA.2022.3141194 – ident: CIT0061 doi: 10.1109/ICRA.2014.6907751 – ident: CIT0150 doi: 10.1109/HUMANOIDS.2016.7803333 – ident: CIT0066 doi: 10.1177/0278364912452673 – ident: CIT0132 doi: 10.1109/ICRA.2016.7487320 – ident: CIT0035 doi: 10.1109/ACCESS.2020.2980446 – ident: CIT0062 doi: 10.1109/IROS.2012.6386109 – ident: CIT0079 doi: 10.1137/S0036144504446096 – ident: CIT0122 doi: 10.1109/HUMANOIDS.2012.6651592 – ident: CIT0096 doi: 10.1109/ICRA48506.2021.9560795 – ident: CIT0054 doi: 10.1007/978-94-007-6046-2_48 – ident: CIT0076 doi: 10.1016/j.automatica.2008.06.011 – ident: CIT0104 doi: 10.1287/moor.25.1.1.15213 – ident: CIT0103 doi: 10.1109/AMC.2006.1631739 – ident: CIT0008 doi: 10.1109/IROS.2011.6094465 – ident: CIT0048 doi: 10.1109/ICRA46639.2022.9811796 – ident: CIT0057 doi: 10.1109/TRO.2018.2862902 – ident: CIT0188 doi: 10.1109/TAC.2020.2982585 – ident: CIT0121 – ident: CIT0116 doi: 10.1109/ICRA.2017.7989016 – ident: CIT0106 doi: 10.1007/s10107-011-0488-5 – ident: CIT0015 doi: 10.1109/IRDS.2002.1041675 – ident: CIT0173 doi: 10.1109/SII.2019.8700380 – ident: CIT0006 doi: 10.1016/j.robot.2004.07.007 – ident: CIT0136 doi: 10.1109/ICHR.2010.5686288 – ident: CIT0098 doi: 10.1017/S0962492913000032 – ident: CIT0068 doi: 10.1007/s12532-015-0081-7 – ident: CIT0149 doi: 10.1109/IROS.2014.6943129 – ident: CIT0111 doi: 10.1007/s10107-010-0342-1 – ident: CIT0134 doi: 10.1109/IROS.2017.8206418 – ident: CIT0039 doi: 10.1109/ICRA48506.2021.9561510 – ident: CIT0177 doi: 10.1007/s12532-018-0139-4 – volume: 225 start-page: 831 issue: 6 year: 2011 ident: CIT0002 publication-title: Proc Inst Mech Eng I J Syst Control Eng – ident: CIT0178 doi: 10.1109/SIMPAR.2018.8376281 – ident: CIT0030 doi: 10.1109/IROS.2018.8594448 – ident: CIT0152 doi: 10.1109/HUMANOIDS.2016.7803371 – ident: CIT0001 doi: 10.1177/0278364910387457 – ident: CIT0086 doi: 10.1016/j.automatica.2019.108560 – ident: CIT0075 doi: 10.1137/S0363012902400713 – ident: CIT0027 doi: 10.1109/LRA.2016.2518739 – ident: CIT0047 doi: 10.1109/LRA.2022.3149573 – ident: CIT0017 – ident: CIT0117 doi: 10.1109/LRA.2020.3007475 – ident: CIT0180 doi: 10.1016/j.ifacol.2017.08.291 – ident: CIT0038 doi: 10.1109/IROS51168.2021.9636371 – ident: CIT0049 doi: 10.1007/978-3-540-30301-5_17 – ident: CIT0071 doi: 10.1109/LRA.2019.2926664 – ident: CIT0019 doi: 10.1109/HUMANOIDS.2013.7029990 – ident: CIT0004 doi: 10.1109/IROS.2018.8593885 – ident: CIT0114 doi: 10.1145/2558904 – ident: CIT0148 doi: 10.1007/s10514-013-9341-4 – volume-title: Differential dynamic programming year: 1970 ident: CIT0092 – ident: CIT0109 doi: 10.1109/LRA.2019.2923967 – ident: CIT0141 doi: 10.1109/LRA.2016.2579741 – ident: CIT0146 doi: 10.1007/978-3-642-00196-3_37 – ident: CIT0154 doi: 10.1109/HUMANOIDS.2016.7803329 – ident: CIT0162 doi: 10.1145/1576246.1531387 – ident: CIT0050 doi: 10.1080/01691864.2020.1778524 – ident: CIT0153 doi: 10.1109/HUMANOIDS47582.2021.9555775 – ident: CIT0091 doi: 10.23919/ACC53348.2022.9867631 – ident: CIT0128 doi: 10.20965/jrm.2016.p0533 – ident: CIT0042 doi: 10.1109/ICRA48506.2021.9561961 – ident: CIT0165 doi: 10.15607/RSS.2021.XVII.017 – volume: 7 start-page: 36 issue: 1 year: 2016 ident: CIT0172 publication-title: J Softw Eng Robot – ident: CIT0033 doi: 10.1109/TRO.2019.2914350 – ident: CIT0045 doi: 10.1109/ACCESS.2021.3118957 – ident: CIT0012 doi: 10.1109/ICRA.2018.8460789 – ident: CIT0135 doi: 10.1109/IROS40897.2019.8967871 – ident: CIT0014 – ident: CIT0005 doi: 10.1109/ICRA.2019.8793865 – ident: CIT0144 doi: 10.1109/TRO.2015.2405592 – ident: CIT0108 doi: 10.1109/LRA.2018.2852785 – ident: CIT0087 doi: 10.1007/s12532-021-00208-8 – ident: CIT0151 doi: 10.1109/IROS.2018.8593888 – ident: CIT0171 doi: 10.1016/j.jprocont.2016.11.011 – ident: CIT0175 doi: 10.1109/HUMANOIDS.2018.8624925 – ident: CIT0060 doi: 10.1109/LRA.2017.2665685 – ident: CIT0181 – ident: CIT0130 doi: 10.1163/016918610X493552 – ident: CIT0184 doi: 10.15607/RSS.2020.XVI.077 – ident: CIT0159 doi: 10.1109/ICRA.2019.8793669 – ident: CIT0064 doi: 10.1109/ICAR.1991.240688 – ident: CIT0003 doi: 10.1109/IROS.2016.7758092 – ident: CIT0191 doi: 10.1109/LRA.2021.3128697 – ident: CIT0009 doi: 10.1109/HUMANOIDS.2014.7041473 – ident: CIT0158 doi: 10.1109/HUMANOIDS47582.2021.9555782 – ident: CIT0093 – ident: CIT0189 doi: 10.1109/TAC.2016.2625048 – ident: CIT0100 doi: 10.1016/j.ifacol.2020.12.1799 – ident: CIT0156 doi: 10.1109/HUMANOIDS.2015.7363464 – ident: CIT0169 doi: 10.1177/0278364918772893 – ident: CIT0137 doi: 10.1109/LRA.2021.3077858 – ident: CIT0164 doi: 10.1177/027836498300200102 – ident: CIT0101 doi: 10.23919/ECC.2019.8796242 – ident: CIT0145 doi: 10.1109/IROS.2017.8206322 – ident: CIT0120 – ident: CIT0080 doi: 10.1007/s10107-004-0559-y – ident: CIT0126 doi: 10.1109/ICHR.2006.321375 – ident: CIT0052 doi: 10.1007/s43154-021-00059-0 – ident: CIT0102 doi: 10.1109/TAC.2020.3007688 – ident: CIT0192 doi: 10.1109/TAC.2020.3024161 – ident: CIT0072 doi: 10.1007/s12532-020-00179-2 – ident: CIT0070 doi: 10.1016/j.ifacol.2020.12.073 – ident: CIT0170 doi: 10.1109/LRA.2021.3098928 – ident: CIT0118 doi: 10.1109/HUMANOIDS.2015.7363473 – ident: CIT0157 doi: 10.1109/HUMANOIDS.2015.7363428 – ident: CIT0010 doi: 10.1109/HUMANOIDS.2014.7041347 – ident: CIT0074 doi: 10.1016/j.automatica.2003.11.005 – ident: CIT0112 doi: 10.1007/s10479-007-0176-2 – ident: CIT0011 doi: 10.1109/HUMANOIDS.2017.8246947 – ident: CIT0094 doi: 10.1109/ICRA40945.2020.9196673 – volume-title: Model predictive control: theory, computation, and design year: 2017 ident: CIT0082 – ident: CIT0023 doi: 10.1109/IROS.2015.7353843 – ident: CIT0055 doi: 10.1007/978-94-007-6046-2_32 – ident: CIT0119 doi: 10.1080/0020718508961156 – ident: CIT0123 doi: 10.21236/ADA609276 – ident: CIT0133 doi: 10.1109/ICRA.2017.7989401 – ident: CIT0016 – ident: CIT0031 doi: 10.1109/LRA.2018.2800124 – ident: CIT0051 doi: 10.1080/01691864.2020.1803128 – ident: CIT0125 doi: 10.1109/ROBOT.2007.363870 – ident: CIT0190 doi: 10.1109/ICRA48506.2021.9562066 – ident: CIT0147 doi: 10.1109/IROS.2017.8206176 – ident: CIT0024 doi: 10.1109/IROS.2016.7759790 – ident: CIT0043 doi: 10.1080/01691864.2021.1928543 – ident: CIT0067 doi: 10.1007/s12532-014-0071-1 – ident: CIT0046 doi: 10.1109/ICRA46639.2022.9811670 – ident: CIT0058 doi: 10.1109/ICRA46639.2022.9812120 – volume-title: Numerical optimization year: 2006 ident: CIT0078 – ident: CIT0174 doi: 10.1145/2185520.2185539 – ident: CIT0183 doi: 10.1177/0278364916653815 – ident: CIT0095 doi: 10.1109/IROS40897.2019.8968251 – ident: CIT0163 doi: 10.1115/1.3149599 – ident: CIT0025 doi: 10.1007/s10514-015-9479-3 – ident: CIT0037 doi: 10.1109/TRO.2019.2958483 – ident: CIT0182 doi: 10.15607/RSS.2020.XVI.098 – ident: CIT0040 doi: 10.1109/LRA.2021.3068908 – ident: CIT0056 doi: 10.1007/978-1-4899-7560-7 – ident: CIT0176 doi: 10.1109/TMECH.2009.2035112 – ident: CIT0013 doi: 10.23919/ACC.2019.8814833 – ident: CIT0097 doi: 10.23943/princeton/9780691153896.001.0001 – ident: CIT0077 doi: 10.1016/j.ifacol.2017.08.2175 – ident: CIT0041 doi: 10.1109/LRA.2021.3068695 – ident: CIT0063 doi: 10.1109/LRA.2022.3174367 – ident: CIT0069 doi: 10.1007/s11081-011-9176-9 – ident: CIT0073 doi: 10.1007/s10013-018-0311-1 – ident: CIT0029 doi: 10.1109/ICRA.2018.8460572 – ident: CIT0187 doi: 10.1109/9.704989 – ident: CIT0090 doi: 10.1109/HUMANOIDS.2017.8239538 – ident: CIT0105 doi: 10.1177/0278364913506757 – ident: CIT0115 doi: 10.1080/0020717021000023825 – ident: CIT0007 doi: 10.1109/IROS.2008.4650604 – ident: CIT0021 doi: 10.1109/ICRA.2014.6907116 – ident: CIT0129 doi: 10.1109/IROS40897.2019.8968028 – ident: CIT0020 doi: 10.1109/HUMANOIDS.2013.7029950 – ident: CIT0065 doi: 10.1109/TRO.2016.2623338 – ident: CIT0113 doi: 10.1109/TAC.2003.821417 – ident: CIT0110 doi: 10.1109/ICRA46639.2022.9811957 – ident: CIT0161 doi: 10.1109/ICRA.2019.8794273 – ident: CIT0081 doi: 10.1016/S1474-6670(17)61205-9 – ident: CIT0053 doi: 10.1007/978-94-007-6046-2_29 – volume: 17 issue: 1 year: 2020 ident: CIT0139 publication-title: Int J HR – ident: CIT0167 doi: 10.15607/RSS.2018.XIV.038 – ident: CIT0085 doi: 10.1080/00207179.2017.1316017 – ident: CIT0028 doi: 10.1109/HUMANOIDS.2017.8246930 – ident: CIT0099 doi: 10.1007/s00186-011-0355-4 – ident: CIT0186 doi: 10.1109/TAC.2016.2638961 – ident: CIT0185 doi: 10.1109/LRA.2022.3144767 – ident: CIT0036 doi: 10.1109/LRA.2019.2947001 – ident: CIT0179 – ident: CIT0142 doi: 10.1109/HUMANOIDS.2015.7363423 – ident: CIT0143 doi: 10.1109/IROS.2009.5354662 – ident: CIT0018 doi: 10.1109/Humanoids.2011.6100894 – ident: CIT0044 doi: 10.1109/ICRA48506.2021.9560742 – ident: CIT0059 doi: 10.1002/(SICI)1097-0207(19960815)39:15<2673::AID-NME972>3.0.CO;2-I – ident: CIT0089 doi: 10.1080/00207179.2011.555883 – ident: CIT0124 doi: 10.1109/ICRA40945.2020.9197371 – ident: CIT0026 doi: 10.1109/IROS.2017.8206268 – ident: CIT0160 doi: 10.1109/IROS51168.2021.9635856 – ident: CIT0032 doi: 10.1109/IROS40897.2019.8968031 – ident: CIT0127 doi: 10.1109/HUMANOIDS.2012.6651549 – ident: CIT0138 doi: 10.1109/ICRA.2018.8461236 – ident: CIT0083 doi: 10.1023/A:1021711402723 – ident: CIT0084 doi: 10.1109/TCST.2009.2017934 – ident: CIT0131 doi: 10.1109/ICRA.2011.5979671 – ident: CIT0155 doi: 10.1109/HUMANOIDS.2014.7041375 |
| SSID | ssj0008437 |
| Score | 2.5487254 |
| Snippet | Model predictive control (MPC) of legged and humanoid robotic systems has been an active research topic in the past decade. While MPC for robotic systems has a... |
| SourceID | hal crossref informaworld |
| SourceType | Open Access Repository Enrichment Source Index Database Publisher |
| StartPage | 298 |
| SubjectTerms | Computer Science humanoid robot Legged robot model predictive control motion planning Robotics |
| Title | Model predictive control of legged and humanoid robots: models and algorithms |
| URI | https://www.tandfonline.com/doi/abs/10.1080/01691864.2023.2168134 https://hal.science/hal-04745643 |
| Volume | 37 |
| WOSCitedRecordID | wos000929079600001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVAWR databaseName: Taylor & Francis Online Journals customDbUrl: eissn: 1568-5535 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0008437 issn: 0169-1864 databaseCode: TFW dateStart: 19860101 isFulltext: true titleUrlDefault: https://www.tandfonline.com providerName: Taylor & Francis |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV07T8MwELZoYYCBN6K8ZCHWlCR2E4etQlQdoGIookyR7dhtpdBUSejvx-ekVRmAAZZIeZwdnR2fP-f8fQjdmEmE1KYrOZRpA1B84TrCxAnHxDpBQyYSGnErNhEOBmw0ip7rbMKiTqsEDK0rogg7VsPHzUWxzIi7BQIRjwWwIuKTtu8FzCO0gTZ9A00Af7lv_dVgzGhFm2lMHLBZbuL5rpgv4akxscmR6xSma8Gnt_cPr72PduuZJ-5WXeUAbajZIdpZ4yM8Qk-gjJbieQ5_b2AcxHUmO840TtV4rBJsqsdW2C-bJjjPRFYWd9jq6RT2Hk_HWT4tJ-_FMXrpPQzv-06tt-BI6rmlE_k8lB6nTMF-rE4kKAlEKBUhSgqDy4iMDJ5xieCA3JibsA73k9DX3NOu1pKcoOYsm6lThGXCpUpMYxMhqCA-6wSmbAUSgDxwBWkhunRzLGsyctDESGNvyVlaeysGb8W1t1qovTKbV2wcvxlcmzZcPQtc2v3uYwzXXBoClQ5ZeC0UrTdxXNq1El0Jm8TkxwrO_mB7jrbh1Ga00QvULPMPdYm25KKcFvmV7cfmOOy9fgJxluw3 |
| linkProvider | Taylor & Francis |
| linkToHtml | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV1LT9wwEB7xqFQ4QF-I5dFaqNfQJHYSh9sKsVrEsqet2FtkO_ay0naDksDvx-Mkq_RAe2ivccaOZiYejz3-PoDvdhGhjHUlj3FjE5RQ-p60ccKzsU6yhMucpcKRTSTTKZ_P0_5dGCyrxBzaNEARbq7Gnxs3o7uSuB-IIBLwGLdEQnoZBjEPKNuG3cjGWsTPn40eNrMxZw1uphXxUKa7xfNWN7_Fp-1HVx3ZxzDtRZ_R4f_47g9w0K49ybBxlo-wpdefYL-HSPgZ7pEbbUWeSjy_wZmQtLXspDBkpRcLnRM7PnHUfsUyJ2Uhi7q6Io5Rp3JtYrUoymX9-Kv6Aj9HN7PrsdcyLniKBX7tpaFIVCAY13gjK0olo7FMlKZUK2kzM6pSm9H4VArM3bif80iEeRIaERjfGEWPYGddrPUxEJULpXNrbiolkzTkUWz71kgCKGJf0gGwTs-ZauHIkRVjlQUdammrrQy1lbXaGsDlRuypweP4m8CFNeLmXUTTHg8nGT7zWYJgOvQlGEDat3FWu90S01CbZPSPA5z8g-w3eD-e3U-yye307hT2sMnVt7Ez2KnLZ30O79RLvazKr86pXwFsy-9P |
| linkToPdf | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV3fT9swED5RQBN74McYWmGAhfaaLondxOENbatAlKoPIHiLbMculbqmSjL-_vmcpAoP2x7Ya5yzo7uLz2efvw_gi11EKGNdyWPc2AQllL4nbZzwbKyTLOYyY4lwZBPxZMKfnpJpU01YNmWVmEObGijCzdX4c68y01bEfUUAkYBHuCMS0kEYRDygrAdbdukcoZPfjx7XkzFnNWymFfFQpr3E86duXoWn3rMrjuxCmHaCz2jvP3z2Puw2K09yVbvKAWzo5Qd438EjPIQ7ZEZbkFWBpzc4D5Kmkp3khiz0bKYzYocnjtgvn2ekyGVelZfE8emUrk0sZnkxr55_lh_hYfTj_tu11_AteIoFfuUloYhVIBjXeB9rmEhGIxkrTalW0uZlVCU2n_GpFJi5cT_jQxFmcWhEYHxjFD2CzWW-1J-AqEwonVljUymZpCEfRrZvjRSAIvIl7QNr1ZyqBowcOTEWadBiljbaSlFbaaOtPgzWYqsajeNfAhfWhut3EUv7-mqc4jOfxQilQ1-CPiRdE6eV2ysxNbFJSv86wPEbZM_h3fT7KB3fTG5PYAdbXHEb-wybVfFLn8K2eqnmZXHmXPo3mq_uAQ |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Model+predictive+control+of+legged+and+humanoid+robots%3A+models+and+algorithms&rft.jtitle=Advanced+robotics&rft.au=Katayama%2C+Sotaro&rft.au=Murooka%2C+Masaki&rft.au=Tazaki%2C+Yuichi&rft.date=2023-03-04&rft.issn=0169-1864&rft.eissn=1568-5535&rft.volume=37&rft.issue=5&rft.spage=298&rft.epage=315&rft_id=info:doi/10.1080%2F01691864.2023.2168134&rft.externalDBID=n%2Fa&rft.externalDocID=10_1080_01691864_2023_2168134 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0169-1864&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0169-1864&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0169-1864&client=summon |