{"id":"https://openalex.org/W4319787917","doi":"https://doi.org/10.1080/01691864.2023.2168134","title":"Model predictive control of legged and humanoid robots: models and algorithms","display_name":"Model predictive control of legged and humanoid robots: models and algorithms","publication_year":2023,"publication_date":"2023-02-09","ids":{"openalex":"https://openalex.org/W4319787917","doi":"https://doi.org/10.1080/01691864.2023.2168134"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2023.2168134","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2023.2168134","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2023.2168134?download=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2023.2168134?download=true","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003539323","display_name":"Sotaro Katayama","orcid":"https://orcid.org/0000-0002-0051-2378"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]},{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Sotaro Katayama","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242","https://openalex.org/I39012071"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066818005","display_name":"Masaki Murooka","orcid":"https://orcid.org/0000-0002-1258-0431"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki Murooka","raw_affiliation_strings":["CNRS-AIST JRL, IRL, Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL, IRL, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010816124","display_name":"Yuichi Tazaki","orcid":"https://orcid.org/0000-0001-5087-6623"},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichi Tazaki","raw_affiliation_strings":["Graduate School of Engineering, Kobe University, Kobe, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kobe University, Kobe, Japan","institution_ids":["https://openalex.org/I65837984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5003539323"],"corresponding_institution_ids":["https://openalex.org/I22299242","https://openalex.org/I39012071"],"apc_list":null,"apc_paid":null,"fwci":6.5851,"has_fulltext":true,"cited_by_count":82,"citation_normalized_percentile":{"value":0.98227948,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"37","issue":"5","first_page":"298","last_page":"315"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10441","display_name":"Muscle Physiology and Disorders","score":0.9811000227928162,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8928737640380859},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7683752775192261},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.699163556098938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6045863032341003},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5820140838623047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5265679359436035},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4976177513599396},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.4878287613391876},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38974475860595703},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.346794456243515},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2395341396331787}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8928737640380859},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7683752775192261},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.699163556098938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6045863032341003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5820140838623047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5265679359436035},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4976177513599396},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.4878287613391876},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38974475860595703},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.346794456243515},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2395341396331787}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01691864.2023.2168134","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2023.2168134","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2023.2168134?download=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-04745643v1","is_oa":false,"landing_page_url":"https://hal.science/hal-04745643","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Robotics, 2023, 37 (5), pp.298-315. ⟨10.1080/01691864.2023.2168134⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1080/01691864.2023.2168134","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2023.2168134","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2023.2168134?download=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2605356635","display_name":"Responsive contact motion generation for humanoid robots","funder_award_id":"21H03521","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G3629163587","display_name":null,"funder_award_id":"JP22J11441","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G7385221091","display_name":"Adaptive model predictive control for unified control of robotic systems with contacts","funder_award_id":"22J11441","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4319787917.pdf","grobid_xml":"https://content.openalex.org/works/W4319787917.grobid-xml"},"referenced_works_count":198,"referenced_works":["https://openalex.org/W198732646","https://openalex.org/W393689543","https://openalex.org/W618254468","https://openalex.org/W1431688706","https://openalex.org/W1535210759","https://openalex.org/W1552665521","https://openalex.org/W1562460111","https://openalex.org/W1603657390","https://openalex.org/W1874049655","https://openalex.org/W1945123189","https://openalex.org/W1966552874","https://openalex.org/W1968859249","https://openalex.org/W1969752069","https://openalex.org/W1970101292","https://openalex.org/W1971930153","https://openalex.org/W1973195195","https://openalex.org/W1980151151","https://openalex.org/W1986621758","https://openalex.org/W1994275787","https://openalex.org/W1999502602","https://openalex.org/W2000535285","https://openalex.org/W2000975219","https://openalex.org/W2002804012","https://openalex.org/W2003132288","https://openalex.org/W2013439434","https://openalex.org/W2016468033","https://openalex.org/W2018860673","https://openalex.org/W2021848705","https://openalex.org/W2025752438","https://openalex.org/W2033480951","https://openalex.org/W2037678919","https://openalex.org/W2040164128","https://openalex.org/W2041434319","https://openalex.org/W2041550061","https://openalex.org/W2042408133","https://openalex.org/W2049670620","https://openalex.org/W2056223738","https://openalex.org/W2061983716","https://openalex.org/W2070507784","https://openalex.org/W2072241589","https://openalex.org/W2074042377","https://openalex.org/W2079995373","https://openalex.org/W2082056119","https://openalex.org/W2084891258","https://openalex.org/W2084959384","https://openalex.org/W2085897137","https://openalex.org/W2101340954","https://openalex.org/W2108447956","https://openalex.org/W2110194613","https://openalex.org/W2116528556","https://openalex.org/W2116773335","https://openalex.org/W2117271243","https://openalex.org/W2117402460","https://openalex.org/W2120693140","https://openalex.org/W2123871098","https://openalex.org/W2124659975","https://openalex.org/W2127895608","https://openalex.org/W2130527887","https://openalex.org/W2133304166","https://openalex.org/W2133859362","https://openalex.org/W2139372276","https://openalex.org/W2143729862","https://openalex.org/W2144351850","https://openalex.org/W2145148135","https://openalex.org/W2153190828","https://openalex.org/W2158058858","https://openalex.org/W2158782408","https://openalex.org/W2164957979","https://openalex.org/W2198582666","https://openalex.org/W2199168279","https://openalex.org/W2204604557","https://openalex.org/W2217484997","https://openalex.org/W2333533581","https://openalex.org/W2410758815","https://openalex.org/W2411798942","https://openalex.org/W2461181622","https://openalex.org/W2477962321","https://openalex.org/W2491414412","https://openalex.org/W2519452711","https://openalex.org/W2529220408","https://openalex.org/W2560504659","https://openalex.org/W2563439850","https://openalex.org/W2564178275","https://openalex.org/W2567729074","https://openalex.org/W2569324215","https://openalex.org/W2571129017","https://openalex.org/W2578079017","https://openalex.org/W2590305599","https://openalex.org/W2593996575","https://openalex.org/W2607001947","https://openalex.org/W2614308505","https://openalex.org/W2762555062","https://openalex.org/W2763052367","https://openalex.org/W2766984896","https://openalex.org/W2769646558","https://openalex.org/W2771123153","https://openalex.org/W2771495741","https://openalex.org/W2771691050","https://openalex.org/W2772157100","https://openalex.org/W2774990687","https://openalex.org/W2776302298","https://openalex.org/W2783824884","https://openalex.org/W2789286310","https://openalex.org/W2804452275","https://openalex.org/W2804623852","https://openalex.org/W2842089854","https://openalex.org/W2850053679","https://openalex.org/W2890933152","https://openalex.org/W2891095726","https://openalex.org/W2893725532","https://openalex.org/W2898868201","https://openalex.org/W2906487027","https://openalex.org/W2909331752","https://openalex.org/W2909553221","https://openalex.org/W2911477000","https://openalex.org/W2944561196","https://openalex.org/W2946514473","https://openalex.org/W2948652605","https://openalex.org/W2951069078","https://openalex.org/W2951805468","https://openalex.org/W2954730031","https://openalex.org/W2963536429","https://openalex.org/W2964111918","https://openalex.org/W2968213087","https://openalex.org/W2968827721","https://openalex.org/W2969111820","https://openalex.org/W2970053571","https://openalex.org/W2970228732","https://openalex.org/W2972798201","https://openalex.org/W2980301669","https://openalex.org/W3003712039","https://openalex.org/W3004162504","https://openalex.org/W3004201008","https://openalex.org/W3004240161","https://openalex.org/W3006866161","https://openalex.org/W3012148556","https://openalex.org/W3013679533","https://openalex.org/W3033272118","https://openalex.org/W3036870219","https://openalex.org/W3039843183","https://openalex.org/W3041042960","https://openalex.org/W3041567964","https://openalex.org/W3046286341","https://openalex.org/W3047960023","https://openalex.org/W3081791272","https://openalex.org/W3089750699","https://openalex.org/W3090207068","https://openalex.org/W3093326211","https://openalex.org/W3098680447","https://openalex.org/W3099530328","https://openalex.org/W3101144081","https://openalex.org/W3101798601","https://openalex.org/W3102212813","https://openalex.org/W3102337601","https://openalex.org/W3103075896","https://openalex.org/W3103727237","https://openalex.org/W3104730803","https://openalex.org/W3105372678","https://openalex.org/W3109186372","https://openalex.org/W3138294267","https://openalex.org/W3141339240","https://openalex.org/W3142410314","https://openalex.org/W3148610713","https://openalex.org/W3155272911","https://openalex.org/W3155859492","https://openalex.org/W3162655786","https://openalex.org/W3169802677","https://openalex.org/W3171189531","https://openalex.org/W3176455058","https://openalex.org/W3180158572","https://openalex.org/W3184213034","https://openalex.org/W3187891773","https://openalex.org/W3197219002","https://openalex.org/W3198442109","https://openalex.org/W3199300111","https://openalex.org/W3201707474","https://openalex.org/W3205843978","https://openalex.org/W3206338439","https://openalex.org/W3206363598","https://openalex.org/W3206363916","https://openalex.org/W3207305612","https://openalex.org/W3207637958","https://openalex.org/W3211963501","https://openalex.org/W4200630450","https://openalex.org/W4210612168","https://openalex.org/W4210990956","https://openalex.org/W4232371162","https://openalex.org/W4233061490","https://openalex.org/W4239766304","https://openalex.org/W4246876444","https://openalex.org/W4249010688","https://openalex.org/W4250058668","https://openalex.org/W4255043376","https://openalex.org/W4285028015","https://openalex.org/W4285102283","https://openalex.org/W4287080408","https://openalex.org/W4287326512","https://openalex.org/W4301014524"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W1589423663","https://openalex.org/W1990079087"],"abstract_inverted_index":{"Model":[0],"predictive":[1],"control":[2],"(MPC)":[3],"of":[4,70,77,80,93,110],"legged":[5,61],"and":[6,35,50,62,108],"humanoid":[7,63],"robotic":[8,23,81,102,114],"systems":[9,24,82],"has":[10,25,37],"been":[11],"an":[12,91],"active":[13],"research":[14],"topic":[15],"in":[16,45,84],"the":[17,41,66,85],"past":[18],"decade.":[19],"While":[20],"MPC":[21,59,86,94,111,117,126],"for":[22,60,101,112],"a":[26,75],"long":[27],"history,":[28],"its":[29],"paradigm":[30],"such":[31],"as":[32],"problem":[33],"formulations":[34],"algorithms":[36],"changed":[38],"along":[39],"with":[40],"recent":[42,56,123],"drastic":[43],"progress":[44,57,124],"robot":[46],"hardware,":[47],"computational":[48],"processors,":[49],"algorithms.":[51],"This":[52],"survey":[53],"paper":[54],"reviews":[55],"on":[58,98,119,125,128],"robotics":[64],"from":[65,116],"following":[67],"three":[68],"points":[69],"view.":[71],"First,":[72],"we":[73,89,105],"review":[74],"variety":[76],"dynamical":[78],"models":[79,121],"used":[83],"formulation.":[87],"Second,":[88],"give":[90],"overview":[92],"algorithms,":[95],"particularly":[96],"focusing":[97],"suitable":[99],"ones":[100],"problems.":[103],"Finally,":[104],"introduce":[106],"methods":[107],"applications":[109],"practical":[113],"problems":[115],"based":[118,127],"reduced-order":[120],"to":[122],"whole-body":[129],"models.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":49},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}