{"id":"https://openalex.org/W2198582666","doi":"https://doi.org/10.1109/iros.2015.7353843","title":"Whole-body model-predictive control applied to the HRP-2 humanoid","display_name":"Whole-body model-predictive control applied to the HRP-2 humanoid","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2198582666","doi":"https://doi.org/10.1109/iros.2015.7353843","mag":"2198582666"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353843","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01137021","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066115159","display_name":"Jonas Koenemann","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE","FR"],"is_corresponding":true,"raw_author_name":"J. Koenemann","raw_affiliation_strings":["LAAS/CNRS, Toulouse","University of Freiburg"],"affiliations":[{"raw_affiliation_string":"LAAS/CNRS, Toulouse","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"University of Freiburg","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038165484","display_name":"Andrea Del Prete","orcid":"https://orcid.org/0000-0003-1275-2851"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Del Prete","raw_affiliation_strings":["LAAS/CNRS, Toulouse"],"affiliations":[{"raw_affiliation_string":"LAAS/CNRS, Toulouse","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008259889","display_name":"Yuval Tassa","orcid":"https://orcid.org/0000-0002-1197-288X"},"institutions":[{"id":"https://openalex.org/I4210113297","display_name":"Google (United Kingdom)","ror":"https://ror.org/024bc3e07","country_code":"GB","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210113297","https://openalex.org/I4210128969"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Y. Tassa","raw_affiliation_strings":["Google UK, London"],"affiliations":[{"raw_affiliation_string":"Google UK, London","institution_ids":["https://openalex.org/I4210113297"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108521107","display_name":"E. Todorov","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Todorov","raw_affiliation_strings":["University of Washington"],"affiliations":[{"raw_affiliation_string":"University of Washington","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071048560","display_name":"Olivier Stasse","orcid":"https://orcid.org/0000-0001-8569-6155"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"O. Stasse","raw_affiliation_strings":["LAAS/CNRS, Toulouse"],"affiliations":[{"raw_affiliation_string":"LAAS/CNRS, Toulouse","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Bennewitz","raw_affiliation_strings":["University of Freiburg"],"affiliations":[{"raw_affiliation_string":"University of Freiburg","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109480774","display_name":"Nicolas Mansard","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"N. Mansard","raw_affiliation_strings":["LAAS/CNRS, Toulouse"],"affiliations":[{"raw_affiliation_string":"LAAS/CNRS, Toulouse","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5066115159"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I161046081","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":7.8155,"has_fulltext":false,"cited_by_count":227,"citation_normalized_percentile":{"value":0.97995457,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3346","last_page":"3351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9984999895095825,"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":0.9984999895095825,"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":0.9896000027656555,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9729999899864197,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8400107622146606},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8004290461540222},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6489983201026917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.647591233253479},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6033650636672974},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5957134962081909},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5640292763710022},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.562160313129425},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5603151321411133},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5215504169464111},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5078855156898499},{"id":"https://openalex.org/keywords/online-model","display_name":"Online model","score":0.49300381541252136},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4822036027908325},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.4427136778831482},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4316655993461609},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2938137352466583},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2763116657733917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2547232508659363},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.23243248462677002},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18403244018554688},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17082640528678894},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14872074127197266},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.11213231086730957}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8400107622146606},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8004290461540222},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6489983201026917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.647591233253479},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6033650636672974},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5957134962081909},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5640292763710022},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.562160313129425},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5603151321411133},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5215504169464111},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5078855156898499},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.49300381541252136},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4822036027908325},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.4427136778831482},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4316655993461609},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2938137352466583},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2763116657733917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2547232508659363},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.23243248462677002},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18403244018554688},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17082640528678894},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14872074127197266},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.11213231086730957},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2015.7353843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353843","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01137021v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01137021","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 8p","raw_type":"Conference papers"},{"id":"pmh:oai:iris.unitn.it:11572/226122","is_oa":false,"landing_page_url":"http://hdl.handle.net/11572/226122","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01137021v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01137021","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 8p","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W48695713","https://openalex.org/W159183910","https://openalex.org/W195033972","https://openalex.org/W623211797","https://openalex.org/W658381347","https://openalex.org/W1581095231","https://openalex.org/W1964946446","https://openalex.org/W1992116952","https://openalex.org/W2025752438","https://openalex.org/W2029015512","https://openalex.org/W2031026188","https://openalex.org/W2037729465","https://openalex.org/W2038458120","https://openalex.org/W2042408133","https://openalex.org/W2049670620","https://openalex.org/W2055381865","https://openalex.org/W2061350632","https://openalex.org/W2068793240","https://openalex.org/W2082056119","https://openalex.org/W2087617385","https://openalex.org/W2147285788","https://openalex.org/W2158782408","https://openalex.org/W2964248064","https://openalex.org/W3102703788","https://openalex.org/W6606443834","https://openalex.org/W6607786297","https://openalex.org/W6621933325","https://openalex.org/W6633164705","https://openalex.org/W6641296536","https://openalex.org/W6785603459"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W2910269320","https://openalex.org/W2152492056","https://openalex.org/W2296151496"],"abstract_inverted_index":{"Controlling":[0],"the":[1,15,43,47,54,62,66,73,76,80,85,102,108,129,134,143],"robot":[2,78],"with":[3],"a":[4,91,113,123],"permanently-updated":[5],"optimal":[6,49],"trajectory,":[7],"also":[8],"known":[9],"as":[10],"model":[11,115],"predictive":[12,116],"control,":[13],"is":[14,107,118,140],"Holy":[16],"Grail":[17],"of":[18,45,137,146],"whole-body":[19,114],"motion":[20],"generation.":[21],"Before":[22],"obtaining":[23],"it,":[24],"several":[25],"challenges":[26],"should":[27],"be":[28],"faced:":[29],"computation":[30,70],"cost,":[31],"non-linear":[32],"local":[33],"minima,":[34],"algorithm":[35],"stability,":[36],"etc.":[37],"In":[38,57],"this":[39,138,147],"paper,":[40],"we":[41,59,89,96],"address":[42],"problem":[44],"applying":[46],"updated":[48],"control":[50],"in":[51,99,120],"real-time":[52,100,121],"on":[53,61,84,101,122],"physical":[55,103],"robot.":[56,105,126],"particular,":[58],"focus":[60],"problems":[63],"raised":[64],"by":[65,72],"delays":[67],"due":[68],"to":[69,141],"and":[71,79,95],"differences":[74],"between":[75],"real":[77],"simulated":[81],"model.":[82],"Based":[83],"optimal-control":[86],"solver":[87],"MuJoCo,":[88],"implemented":[90],"complete":[92],"model-predictive":[93],"controller":[94,117],"applied":[97,119],"it":[98],"HRP-2":[104],"It":[106],"first":[109],"time":[110],"that":[111],"such":[112],"complex":[124],"dynamic":[125],"Aside":[127],"from":[128],"technical":[130],"contributions":[131],"cited":[132],"above,":[133],"main":[135],"contribution":[136],"paper":[139],"report":[142],"experimental":[144],"results":[145],"premi\u00e8re":[148],"implementation.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":27},{"year":2021,"cited_by_count":39},{"year":2020,"cited_by_count":35},{"year":2019,"cited_by_count":25},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":16},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}