@inproceedings{27df0a1e010d484a9ccc4e48f3df8595,
title = "A Study of the Effectiveness of Various Combined Control Schemes Based on MPC and WBC in Humanoid Control",
abstract = "The development of motion control frameworks for legged robots primarily focuses on Model Predictive Control (MPC) and Whole-Body Control (WBC) strategies, both of which have proven effectiveness in achieving dynamic locomotion for bipedal and quadrupedal robots. MPC offers predictive capabilities by optimizing control inputs over a future horizon, while WBC enables real-time task prioritization and joint torque generation. In this work, we design a WBC motion control scheme based on nullspace projection and compare it with an existing linear MPC-based controller and combined MPC-WBC approach. These schemes are evaluated in simulation with respect to maximum walking speed, trajectory tracking accuracy, and disturbance rejection capability. The WBC scheme is shown to achieve faster movement (up to 0.9 m/s) and superior robustness against external perturbations compared to the MPC-only controller (up to 0.3m/s). Moreover, it significantly reduces computational complexity relative to the combined MPC-WBC framework, making it more suitable for real-time or resource-limited applications.",
keywords = "Legged Robots, Model Predictive Control, Whole-Body Control",
author = "Yinhui Chen and Dachuan Liu and Shilong Sun and Wenfu Xu and Qingbin Gao",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.; 18th International Conference on Intelligent Robotics and Applications, ICIRA 2025 ; Conference date: 06-08-2025 Through 09-08-2025",
year = "2026",
doi = "10.1007/978-981-95-2098-5\_55",
language = "英语",
isbn = "9789819520978",
series = "Lecture Notes in Computer Science",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "650--661",
editor = "Takayuki Matsuno and Honghai Liu and Lianqing Liu and Zhouping Yin and Xiangyang Zhu and Weihong Ren and Zhiyong Wang and Yixuan Sheng",
booktitle = "Intelligent Robotics and Applications - 18th International Conference, ICIRA 2025, Proceedings",
address = "德国",
}