{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,25]],"date-time":"2025-10-25T05:02:17Z","timestamp":1761368537692,"version":"build-2065373602"},"reference-count":26,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,9,30]],"date-time":"2025-09-30T00:00:00Z","timestamp":1759190400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,9,30]],"date-time":"2025-09-30T00:00:00Z","timestamp":1759190400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,9,30]]},"DOI":"10.1109\/humanoids65713.2025.11203045","type":"proceedings-article","created":{"date-parts":[[2025,10,24]],"date-time":"2025-10-24T17:15:50Z","timestamp":1761326150000},"page":"1-7","source":"Crossref","is-referenced-by-count":0,"title":["The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control"],"prefix":"10.1109","author":[{"given":"Arun L.","family":"Bishop","sequence":"first","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Department of Electrical and Computer Engineering, and the Department of Mechanical Engineering"}]},{"given":"Juan","family":"Alvarez-Padilla","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Department of Electrical and Computer Engineering, and the Department of Mechanical Engineering"}]},{"given":"Sam","family":"Schoedel","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Department of Electrical and Computer Engineering, and the Department of Mechanical Engineering"}]},{"given":"Ibrahima Sory","family":"Sow","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Department of Electrical and Computer Engineering, and the Department of Mechanical Engineering"}]},{"given":"Juee","family":"Chandrachud","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Department of Electrical and Computer Engineering, and the Department of Mechanical Engineering"}]},{"given":"Sheitej","family":"Sharma","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Department of Electrical and Computer Engineering, and the Department of Mechanical Engineering"}]},{"given":"Will","family":"Kraus","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Department of Electrical and Computer Engineering, and the Department of Mechanical Engineering"}]},{"given":"Beomyeong","family":"Park","sequence":"additional","affiliation":[{"name":"Florida Institute for Human and Machine Cognition"}]},{"given":"Robert J.","family":"Griffin","sequence":"additional","affiliation":[{"name":"Florida Institute for Human and Machine Cognition"}]},{"given":"John M.","family":"Dolan","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Department of Electrical and Computer Engineering, and the Department of Mechanical Engineering"}]},{"given":"Zachary","family":"Manchester","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Department of Electrical and Computer Engineering, and the Department of Mechanical Engineering"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(89)90224-8"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(72)90061-2"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1142\/9789814291279_0078"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1988.12160"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1248927"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904047390"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206268"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353843"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800124"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11128271"},{"key":"ref12","article-title":"Recent Progress on Atlas, the World\u2019s Most Dynamic Humanoid Robot","author":"Today","year":"2020","journal-title":"- Scott Kuindersma"},{"volume-title":"Boston Dynamics, Atlas - Partners in Parkour","year":"2021","key":"ref13"},{"key":"ref14","article-title":"Numerical Optimization (Springer Series in Operations Research and Financial Engineering)","author":"Nocedal","year":"2006","journal-title":"Springer New York"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.jpdc.2020.05.021"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611249"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-72699-9_1"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968251"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3504132"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363473"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2012.6425852"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636011"},{"key":"ref23","article-title":"Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains","volume-title":"arXiv","author":"Krishna","year":"2021"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3052431"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.bmc.2017.05.061"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-020-00179-2"}],"event":{"name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","start":{"date-parts":[[2025,9,30]]},"location":"Seoul, Korea, Republic of","end":{"date-parts":[[2025,10,2]]}},"container-title":["2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11202977\/11203009\/11203045.pdf?arnumber=11203045","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,25]],"date-time":"2025-10-25T04:56:49Z","timestamp":1761368209000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11203045\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,30]]},"references-count":26,"URL":"https:\/\/doi.org\/10.1109\/humanoids65713.2025.11203045","relation":{},"subject":[],"published":{"date-parts":[[2025,9,30]]}}}