{"id":"https://openalex.org/W4413980421","doi":"https://doi.org/10.1109/rcar65431.2025.11139401","title":"Single-Leg Balancing of Humanoid Robot Using Five-Particle Model Predictive Control","display_name":"Single-Leg Balancing of Humanoid Robot Using Five-Particle Model Predictive Control","publication_year":2025,"publication_date":"2025-06-01","ids":{"openalex":"https://openalex.org/W4413980421","doi":"https://doi.org/10.1109/rcar65431.2025.11139401"},"language":"en","primary_location":{"id":"doi:10.1109/rcar65431.2025.11139401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139401","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Shanchao Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shanchao Yan","raw_affiliation_strings":["Tsinghua University,Institute of Artificial Intelligence, Shenzhen International Graduate School,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Institute of Artificial Intelligence, Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I4210114105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101992904","display_name":"Qiang Fu","orcid":"https://orcid.org/0000-0002-0332-636X"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Fu","raw_affiliation_strings":["Beijing Jiaotong University,Department of Mechanical Electrical and Control Engineering,Beijing,China,100044"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,Department of Mechanical Electrical and Control Engineering,Beijing,China,100044","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084153521","display_name":"Bokui Chen","orcid":"https://orcid.org/0000-0002-4947-5619"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bokui Chen","raw_affiliation_strings":["Tsinghua University,Institute of Artificial Intelligence, Shenzhen International Graduate School,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Institute of Artificial Intelligence, Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I4210114105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065834747","display_name":"Mingguo Zhao","orcid":"https://orcid.org/0000-0001-9694-6957"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingguo Zhao","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"672","last_page":"678"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9929999709129333,"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":0.9929999709129333,"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":0.9878000020980835,"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":0.9807000160217285,"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":0.8767367601394653},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6712356805801392},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6133432984352112},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5119282007217407},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4679383635520935},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3884032666683197},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36454999446868896},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36078524589538574},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3429567515850067},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3321976363658905},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2792993485927582},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19893446564674377}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8767367601394653},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6712356805801392},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6133432984352112},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5119282007217407},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4679383635520935},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3884032666683197},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36454999446868896},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36078524589538574},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3429567515850067},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3321976363658905},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2792993485927582},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19893446564674377}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar65431.2025.11139401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139401","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1994275787","https://openalex.org/W2005080926","https://openalex.org/W2013439434","https://openalex.org/W2033480951","https://openalex.org/W2132089714","https://openalex.org/W2145788561","https://openalex.org/W2335044248","https://openalex.org/W2423857766","https://openalex.org/W2539534359","https://openalex.org/W2584245200","https://openalex.org/W3130657420","https://openalex.org/W3185209449","https://openalex.org/W4241459016","https://openalex.org/W4404953431"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2543019745","https://openalex.org/W2171912896","https://openalex.org/W2531662632","https://openalex.org/W2314176764","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232"],"abstract_inverted_index":{"Maintaining":[0],"balance":[1,34,136],"during":[2],"single-leg":[3],"standing":[4],"is":[5],"a":[6,39,45,130],"fundamental":[7],"yet":[8],"inherently":[9],"challenging":[10],"task":[11],"for":[12,133],"humanoid":[13,100,135],"robots,":[14],"with":[15,48],"the":[16,25,63,96],"difficulty":[17],"further":[18],"amplified":[19],"under":[20,120],"external":[21],"disturbances.":[22,122],"Inspired":[23],"by":[24],"coordination":[26],"of":[27],"upper":[28],"and":[29,52,66,77,87,109,116,128],"lower":[30],"limbs":[31],"in":[32,113,126,137],"human":[33],"control,":[35],"this":[36],"paper":[37],"presents":[38],"unified":[40],"control":[41],"framework":[42],"that":[43,103],"integrates":[44],"five-particle":[46,60],"model":[47],"Model":[49],"Predictive":[50],"Control":[51],"Whole-Body":[53],"Control,":[54],"termed":[55],"5P-MPC":[56],"+":[57],"WBC.":[58],"The":[59,81,123],"abstraction":[61],"models":[62],"torso,":[64],"arms,":[65],"legs":[67],"as":[68],"individual":[69],"dynamic":[70,138],"components,":[71],"enabling":[72],"more":[73],"accurate":[74],"CoM":[75],"estimation":[76],"whole-body":[78],"trajectory":[79],"planning.":[80],"proposed":[82],"controller":[83,124],"leverages":[84],"coordinated":[85],"arm":[86],"leg":[88],"motions":[89],"to":[90],"enhance":[91],"disturbance":[92],"rejection.":[93],"Simulations":[94],"on":[95],"23-DoF":[97],"Booster":[98],"T1":[99],"robot":[101],"demonstrate":[102],"our":[104],"method":[105],"outperforms":[106],"conventional":[107],"3P-MPC":[108],"only":[110],"WBC":[111],"approaches":[112],"both":[114],"stability":[115],"recovery":[117],"speed,":[118],"especially":[119],"high-impact":[121],"operates":[125],"real-time":[127],"offers":[129],"promising":[131],"solution":[132],"robust":[134],"environments.":[139]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
