@phdthesis{oai:naist.repo.nii.ac.jp:00010858,
 author = {Ishihara, Koji and 石原, 弘二},
 month = {Mar},
 school = {奈良先端科学技術大学院大学},
 title = {Hierarchical Model Predictive Control for Real-time Whole-body Control of a Humanoid Robot},
 year = {2018},
 yomi = {イシハラ, コウジ}
}