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机器人控制主要分为MPC和强化学习两种方案，今天为大家梳理下MPC和WBC相关方法！
MPC（Model Predictive Control）
An integrated system for real-time model predictive control of humanoid robots.2013
论文链接：https://ieeexplore.ieee.org/abstract/document/7029990
Whole-body model-predictive control applied to the HRP-2 humanoid.2015
论文链接：https://ieeexplore.ieee.org/abstract/document/7353843
Model Predictive Control: Theory, Computation, and Design.2017
论文链接：https://sites.engineering.ucsb.edu/~jbraw/mpc/
Model predictive control of legged and humanoid robots: models and algorithms.2023
论文链接：https://www.tandfonline.com/doi/full/10.1080/01691864.2023.2168134
WBC（Whole-Body Control）
A whole-body control framework for humanoids operating in human environments.2006
论文链接：https://ieeexplore.ieee.org/abstract/document/1642100
Hierarchical quadratic programming: Fast online humanoid-robot motion generation.2014
论文链接：https://journals.sagepub.com/doi/abs/10.1177/0278364914521306
Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot.2015
论文链接：https://link.springer.com/article/10.1007/s10514-015-9479-3
Compliant locomotion using whole-body control and divergent component of motion tracking.2015
论文链接：https://ieeexplore.ieee.org/abstract/document/7140001
Humanoid Robotics: A Reference.2017
论文链接：https://link.springer.com/referencework/10.1007/978-94-007-7194-9
ExBody2: Advanced Expressive Humanoid Whole-Body Control.2024
论文链接：https://arxiv.org/abs/2412.13196
A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion.2025
论文链接：https://arxiv.org/abs/2502.03206
