{"id":"https://openalex.org/W7139089937","doi":"https://doi.org/10.1109/tase.2026.3675353","title":"Hybrid Force-Velocity Model Predictive Control Framework for Coordinated Manipulation of Humanoid Dual-Arm Robots","display_name":"Hybrid Force-Velocity Model Predictive Control Framework for Coordinated Manipulation of Humanoid Dual-Arm Robots","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7139089937","doi":"https://doi.org/10.1109/tase.2026.3675353"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3675353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3675353","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","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":"Bing Han","orcid":"https://orcid.org/0000-0003-4623-4737"},"institutions":[{"id":"https://openalex.org/I4210147759","display_name":"Zhejiang Institute of Mechanical and Electrical Engineering","ror":"https://ror.org/055gyn525","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210147759"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bing Han","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Polytechnic Institute, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Polytechnic Institute, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I4210147759"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jin Wang","orcid":"https://orcid.org/0000-0003-3106-021X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Wang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130015018","display_name":"Xiaolong Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Yu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Haiyun Zhang","orcid":"https://orcid.org/0000-0002-2558-1564"},"institutions":[{"id":"https://openalex.org/I159389169","display_name":"Ningbo University of Technology","ror":"https://ror.org/037dym702","country_code":"CN","type":"education","lineage":["https://openalex.org/I159389169"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiyun Zhang","raw_affiliation_strings":["School of Robotics, Ningbo University of Technology, Ningbo, China"],"affiliations":[{"raw_affiliation_string":"School of Robotics, Ningbo University of Technology, Ningbo, China","institution_ids":["https://openalex.org/I159389169"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiaofei Li","orcid":"https://orcid.org/0000-0001-6214-5721"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofei Li","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053316728","display_name":"Jianwei Niu","orcid":"https://orcid.org/0000-0003-3946-5107"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwei Niu","raw_affiliation_strings":["Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems, Hangzhou Innovation Institute of Beihang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems, Hangzhou Innovation Institute of Beihang University, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5130153148","display_name":"Guodong Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guodong Lu","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210147759","https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.73476037,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"7280","last_page":"7302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.5167999863624573,"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":0.5167999863624573,"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":0.263700008392334,"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/T10982","display_name":"Motor Control and Adaptation","score":0.054499998688697815,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7479000091552734},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6837999820709229},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6793000102043152},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6675999760627747},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.633400022983551},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.6110000014305115},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5062000155448914},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.39800000190734863},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.38530001044273376}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7479000091552734},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6837999820709229},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6793000102043152},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6675999760627747},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.633400022983551},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.6110000014305115},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5062000155448914},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5031999945640564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5026999711990356},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39879998564720154},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.39800000190734863},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.38530001044273376},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.367900013923645},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.358599990606308},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.34880000352859497},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.3449999988079071},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.33869999647140503},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3343000113964081},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3230000138282776},{"id":"https://openalex.org/C107645828","wikidata":"https://www.wikidata.org/wiki/Q12070446","display_name":"System model","level":2,"score":0.30809998512268066},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.30550000071525574},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.29179999232292175},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.29030001163482666},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2867000102996826},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.2867000102996826},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2808000147342682},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.25870001316070557},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2556999921798706},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.25529998540878296}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3675353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3675353","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7423493181","display_name":null,"funder_award_id":"LD24E050010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8694438732","display_name":null,"funder_award_id":"2023JH03010019","funder_id":"https://openalex.org/F4320336636","funder_display_name":"Wuhan Science and Technology Project"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320336636","display_name":"Wuhan Science and Technology Project","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,50,99,115,131,139,157,172],"model":[4,53,102,166,175],"predictive":[5],"control":[6,18],"(MPC)":[7],"method":[8,188],"for":[9,176],"humanoid":[10],"dual-arm":[11,127,140],"robots":[12],"(DARs)":[13],"to":[14,63,83,120,144,178],"realize":[15],"hybrid":[16,27],"force-velocity":[17,28],"in":[19,39,77,94,191],"the":[20,40,65,78,85,95,164,186],"task":[21,41,96],"space.":[22,97],"The":[23],"proposed":[24,187],"method,":[25],"named":[26],"MPC":[29,133],"(HFV-MPC),":[30],"enables":[31],"simultaneous":[32],"tracking":[33],"of":[34,54,67,89,193],"velocity":[35,60,93,101],"and":[36,59,73,81,92,109,114,124,150,167,182,195,200],"external":[37,57,74,90,107],"force":[38,47,91,111,168],"space,":[42],"as":[43,45],"well":[44],"internal":[46,55,72,110],"regulation.":[48],"First,":[49],"synchronous":[51],"decoupling":[52],"force,":[56,58,108],"is":[61,118,136,161,189],"developed":[62],"address":[64],"limitations":[66],"conventional":[68],"methods":[69],"that":[70,103],"decouple":[71],"forces":[75],"solely":[76],"end-effector":[79],"space":[80],"fail":[82],"meet":[84],"independent":[86],"regulation":[87],"requirements":[88],"Furthermore,":[98],"generalized":[100,173],"integrates":[104],"task-space":[105],"velocity,":[106],"was":[112],"established,":[113],"HFV-MPC":[116],"framework":[117],"constructed":[119],"enhance":[121],"system":[122,160],"robustness":[123,196],"achieve":[125],"precise":[126],"force\u2013velocity":[128],"tracking.":[129],"Subsequently,":[130],"comprehensive":[132],"cost":[134],"function":[135],"designed,":[137],"incorporating":[138],"motion":[141,153],"coordination":[142],"coefficient":[143],"suppress":[145],"undesired":[146],"redundant":[147],"joint":[148],"motions":[149],"improve":[151],"whole-body":[152],"stability.":[154],"In":[155],"addition,":[156],"feedforward-linearized":[158],"incremental":[159,165],"derived,":[162],"where":[163],"prediction":[169],"jointly":[170],"construct":[171],"state-space":[174],"MPC,":[177],"balance":[179],"modeling":[180],"accuracy":[181],"computational":[183],"efficiency.":[184],"Finally,":[185],"validated":[190],"terms":[192],"effectiveness":[194],"through":[197],"both":[198],"simulation":[199],"physical":[201],"robotic":[202],"experiments.":[203]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-03-20T00:00:00"}
