Before revision:  As opposed to a conventional Model-Predictive Control (MPC) approach  that formulates a hierarchy of optimization problems, the proposed work formulates a single optimization problem posed over a hierarchy of models, and is thus named Model Hierarchy Predictive Control (MHPC).
After revision:  As opposed to a conventional Model-Predictive Control (MPC) approach to locomotion that formulates a hierarchy of optimization problems, the proposed work formulates a single optimization problem posed over a hierarchy of models, and is thus named Model Hierarchy Predictive Control (MHPC).