{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,20]],"date-time":"2025-12-20T22:04:54Z","timestamp":1766268294111,"version":"3.37.3"},"reference-count":42,"publisher":"World Scientific Pub Co Pte Ltd","issue":"01","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2020,2]]},"abstract":"<jats:p> This paper contributes toward the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory optimization, simplified model control, and whole-body quadratic programming (QP) control layer. While the first two layers use simplified robot models, the whole-body QP control layer uses a complete robot model to produce either desired positions, velocities, or torques inputs at the joint-level. This paper then compares two implementations of the simplified model control layer, which are tested with position, velocity, and torque control modes for the whole-body QP control layer. In particular, both an instantaneous and a Receding Horizon controller are presented for the simplified model control layer. We show also that one of the proposed architectures allows the humanoid robot iCub to achieve a forward walking velocity of 0.3372[Formula: see text]m\/s, which is the highest walking velocity achieved by the iCub robot. <\/jats:p>","DOI":"10.1142\/s0219843619500348","type":"journal-article","created":{"date-parts":[[2019,12,2]],"date-time":"2019-12-02T16:04:43Z","timestamp":1575302683000},"page":"1950034","source":"Crossref","is-referenced-by-count":13,"title":["A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots"],"prefix":"10.1142","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6461-3231","authenticated-orcid":false,"given":"Giulio","family":"Romualdi","sequence":"first","affiliation":[{"name":"Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genoa, Italy"},{"name":"DIBRIS, University of Genoa, Genoa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stefano","family":"Dafarra","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genoa, Italy"},{"name":"DIBRIS, University of Genoa, Genoa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yue","family":"Hu","sequence":"additional","affiliation":[{"name":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Prashanth","family":"Ramadoss","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genoa, Italy"},{"name":"DIBRIS, University of Genoa, Genoa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francisco Javier Andrade","family":"Chavez","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genoa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Silvio","family":"Traversaro","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genoa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniele","family":"Pucci","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genoa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2020,2,19]]},"reference":[{"key":"S0219843619500348BIB001","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21559"},{"key":"S0219843619500348BIB002","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041375"},{"key":"S0219843619500348BIB003","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363464"},{"key":"S0219843619500348BIB004","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_35"},{"key":"S0219843619500348BIB005","first-page":"632","volume-title":"2010 3rd IEEE RAS EMBS Int. 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