Core Viewpoint - The article discusses two primary control methods for humanoid robots: Model Predictive Control (MPC) and Whole-Body Control (WBC), highlighting their applications and advancements in the field of robotics [3][4]. Group 1: Model Predictive Control (MPC) - MPC is an integrated system designed for real-time control of humanoid robots, with significant developments noted in various research papers from 2013 to 2023 [3]. - Key papers include "Model Predictive Control: Theory, Computation, and Design" (2017) and "Model predictive control of legged and humanoid robots: models and algorithms" (2023), which provide foundational theories and algorithms for MPC [3]. Group 2: Whole-Body Control (WBC) - WBC is a framework that enables humanoid robots to operate effectively in human environments, with foundational work dating back to 2006 [4]. - Important contributions include "Hierarchical quadratic programming: Fast online humanoid-robot motion generation" (2014) and "Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot" (2015), which focus on motion generation and control design [4].