# Humanoid Robot Motion Control Based on Model Predictive Control and Whole-Body Control: A Case Study of the Qinglong Configuration

- Source: Guyuehome
- Published: 2026-10-18T02:39:00.000Z
- RoboHot: https://robohot.news/en/items/bu7u3dhb3s6qyp9vrgvfppswb
- Original: https://www.guyuehome.com/detail?id=2103679992287227906

## Summary

Using the Qinglong configuration as a case study, this work derives the construction methods for the center-of-mass model, zero-moment point constraints, receding-horizon quadratic programming, and task-priority force distribution in humanoid robot motion control. The method was validated in real physics simulation for locomotion performance in walking, speed variation, stair climbing, jumping, and disturbance-rejection scenarios.