{"id":"https://openalex.org/W4411550967","doi":"https://doi.org/10.1109/access.2025.3582523","title":"Benchmarking Model Predictive Control and Reinforcement Learning-Based Control for Legged Robot Locomotion in MuJoCo Simulation","display_name":"Benchmarking Model Predictive Control and Reinforcement Learning-Based Control for Legged Robot Locomotion in MuJoCo Simulation","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411550967","doi":"https://doi.org/10.1109/access.2025.3582523"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3582523","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3582523","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2025.3582523","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093735635","display_name":"Shivayogi Akki","orcid":null},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shivayogi Akki","raw_affiliation_strings":["Electrical and Computer Engineering Department, Michigan Technological University, Houghton, MI, USA"],"raw_orcid":"https://orcid.org/0009-0001-3502-3590","affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029245145","display_name":"Tan Chen","orcid":"https://orcid.org/0000-0002-4199-8706"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tan Chen","raw_affiliation_strings":["Electrical and Computer Engineering Department, Michigan Technological University, Houghton, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-4199-8706","affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I11957088"],"apc_list":{"value":2075,"currency":"USD","value_usd":2075},"apc_paid":{"value":2075,"currency":"USD","value_usd":2075},"fwci":3.0727,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.91857497,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"13","issue":null,"first_page":"108732","last_page":"108742"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7917032837867737},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.7200027108192444},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6993472576141357},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6110628843307495},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.577299177646637},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5104995965957642},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4653414487838745},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4276259243488312},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3586427867412567},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32791754603385925},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25072410702705383},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21127882599830627}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7917032837867737},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7200027108192444},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6993472576141357},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6110628843307495},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.577299177646637},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5104995965957642},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4653414487838745},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4276259243488312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3586427867412567},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32791754603385925},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25072410702705383},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21127882599830627},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2025.3582523","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3582523","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:digitalcommons.mtu.edu:michigantech-p2-2940","is_oa":true,"landing_page_url":"https://digitalcommons.mtu.edu/michigantech-p2/1884","pdf_url":null,"source":{"id":"https://openalex.org/S4377196391","display_name":"Digital Commons - Michigan Tech (Michigan Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11957088","host_organization_name":"Michigan Technological University","host_organization_lineage":["https://openalex.org/I11957088"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Michigan Tech Publications","raw_type":"text"},{"id":"pmh:oai:doaj.org/article:98d7bbe2b3324522af0fa593719078f8","is_oa":true,"landing_page_url":"https://doaj.org/article/98d7bbe2b3324522af0fa593719078f8","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 13, Pp 108732-108742 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3582523","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3582523","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1126427461","display_name":"CRII: RI: Towards Robust and Efficient Bipedal Robot Locomotion on the Moon through Reinforcement Learning","funder_award_id":"2348323","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":66,"referenced_works":["https://openalex.org/W32403112","https://openalex.org/W1608758704","https://openalex.org/W1977655452","https://openalex.org/W1979445726","https://openalex.org/W1982446614","https://openalex.org/W2013876510","https://openalex.org/W2075301351","https://openalex.org/W2077676902","https://openalex.org/W2078733704","https://openalex.org/W2134673975","https://openalex.org/W2145339207","https://openalex.org/W2156174987","https://openalex.org/W2158782408","https://openalex.org/W2344093208","https://openalex.org/W2575705757","https://openalex.org/W2601610124","https://openalex.org/W2736601468","https://openalex.org/W2762555062","https://openalex.org/W2767050701","https://openalex.org/W2767578104","https://openalex.org/W2904246096","https://openalex.org/W2909331752","https://openalex.org/W2949676527","https://openalex.org/W2963614114","https://openalex.org/W2970228732","https://openalex.org/W2971099763","https://openalex.org/W2981407045","https://openalex.org/W3093922502","https://openalex.org/W3101442004","https://openalex.org/W3103075896","https://openalex.org/W3104876774","https://openalex.org/W3112664346","https://openalex.org/W3129896193","https://openalex.org/W3189223768","https://openalex.org/W3205275030","https://openalex.org/W3206363916","https://openalex.org/W3206620955","https://openalex.org/W4214717370","https://openalex.org/W4225931182","https://openalex.org/W4233061490","https://openalex.org/W4250058668","https://openalex.org/W4280638670","https://openalex.org/W4285102652","https://openalex.org/W4298857966","https://openalex.org/W4310632022","https://openalex.org/W4312173571","https://openalex.org/W4312238192","https://openalex.org/W4360913297","https://openalex.org/W4386718967","https://openalex.org/W4388895019","https://openalex.org/W4390494915","https://openalex.org/W4391407060","https://openalex.org/W4401415301","https://openalex.org/W4401416252","https://openalex.org/W4406779533","https://openalex.org/W6637967152","https://openalex.org/W6638018090","https://openalex.org/W6713874862","https://openalex.org/W6741002519","https://openalex.org/W6765121789","https://openalex.org/W6780559895","https://openalex.org/W6798316476","https://openalex.org/W6810937540","https://openalex.org/W6847252870","https://openalex.org/W6857445297","https://openalex.org/W6869014910"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2171912896","https://openalex.org/W2542723153","https://openalex.org/W2021541810","https://openalex.org/W2133150803"],"abstract_inverted_index":{"Model":[0],"Predictive":[1],"Control":[2],"(MPC)":[3],"and":[4,64,98,110,164,169],"Reinforcement":[5],"Learning":[6],"(RL)":[7],"are":[8],"two":[9],"prominent":[10],"strategies":[11],"for":[12,148,179],"controlling":[13],"legged":[14,180],"robots.":[15],"RL":[16,65,105,168],"learns":[17],"control":[18,153,177],"policies":[19,127],"through":[20],"system":[21],"interaction,":[22],"adapting":[23],"to":[24,35,118,122,129],"various":[25],"scenarios,":[26],"whereas":[27],"MPC":[28,63,134],"relies":[29],"on":[30,67,79,93,125],"a":[31,47,68,80,86,149],"predefined":[32],"mathematical":[33],"model":[34],"solve":[36],"optimization":[37],"problems":[38],"in":[39,107],"real-time.":[40],"Despite":[41],"their":[42],"widespread":[43],"use,":[44],"there":[45],"is":[46,90],"lack":[48],"of":[49,152,166],"direct":[50],"comparative":[51],"analysis":[52],"under":[53],"standardized":[54,81],"conditions.":[55],"This":[56],"work":[57],"addresses":[58],"this":[59],"gap":[60],"by":[61,142],"benchmarking":[62],"controllers":[66],"Unitree":[69],"Go1":[70],"quadruped":[71],"robot":[72],"within":[73],"the":[74,156,162],"MuJoCo":[75],"simulation":[76],"environment,":[77],"focusing":[78],"task,":[82],"straight":[83],"walking":[84],"at":[85],"constant":[87],"velocity.":[88],"Performance":[89],"evaluated":[91],"based":[92],"disturbance":[94],"rejection,":[95],"energy":[96,112],"efficiency,":[97],"terrain":[99],"adaptability.":[100],"The":[101,159],"results":[102,160],"show":[103],"that":[104],"excels":[106],"handling":[108],"disturbances":[109],"maintaining":[111],"efficiency":[113],"but":[114],"struggles":[115],"with":[116],"generalization":[117],"new":[119],"terrains":[120],"due":[121],"its":[123,144],"dependence":[124],"learned":[126],"tailored":[128],"specific":[130],"environments.":[131],"In":[132],"contrast,":[133],"shows":[135],"enhanced":[136],"recovery":[137],"capabilities":[138],"from":[139],"larger":[140],"perturbations":[141],"leveraging":[143],"optimization-based":[145],"approach,":[146],"allowing":[147],"balanced":[150],"distribution":[151],"efforts":[154],"across":[155],"robot\u2019s":[157],"joints.":[158],"present":[161],"advantages":[163],"limitations":[165],"both":[167],"MPC,":[170],"offering":[171],"insights":[172],"into":[173],"selecting":[174],"an":[175],"appropriate":[176],"strategy":[178],"robotic":[181],"applications.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":2}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
