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 [![build](https://github.com/mayataka/robotoc/workflows/build/badge.svg?branch=master)](https://github.com/mayataka/robotoc/actions?query=workflow%3Abuild)
 [![codecov](https://codecov.io/gh/mayataka/robotoc/branch/master/graph/badge.svg?token=UOWOF0XO51)](https://codecov.io/gh/mayataka/robotoc)
 
-<img src="https://raw.githubusercontent.com/wiki/mayataka/robotoc/images/longitudinal_mpc_x05.gif" width="150"> &nbsp;
-<img src="https://raw.githubusercontent.com/wiki/mayataka/robotoc/images/lateral_mpc_x05.gif" width="150"> &nbsp;
-<img src="https://raw.githubusercontent.com/wiki/mayataka/robotoc/images/back_mpc_x05.gif" width="150"> &nbsp;
-<img src="https://raw.githubusercontent.com/wiki/mayataka/robotoc/images/rotational_mpc_x05.gif" width="150"> 
+<img src="https://raw.githubusercontent.com/wiki/mayataka/robotoc/images/forward_c.gif" width="140"> &nbsp;
+<img src="https://raw.githubusercontent.com/wiki/mayataka/robotoc/images/side_c.gif" width="140"> &nbsp;
+<img src="https://raw.githubusercontent.com/wiki/mayataka/robotoc/images/curve_c.gif" width="140"> &nbsp;
+<img src="https://raw.githubusercontent.com/wiki/mayataka/robotoc/images/rotation_c.gif" width="140"> 
+
+<img src="https://raw.githubusercontent.com/wiki/mayataka/robotoc/images/longitudinal_mpc_x05.gif" width="140"> &nbsp;
+<img src="https://raw.githubusercontent.com/wiki/mayataka/robotoc/images/lateral_mpc_x05.gif" width="140"> &nbsp;
+<img src="https://raw.githubusercontent.com/wiki/mayataka/robotoc/images/back_mpc_x05.gif" width="140"> &nbsp;
+<img src="https://raw.githubusercontent.com/wiki/mayataka/robotoc/images/rotational_mpc_x05.gif" width="140"> 
 
 ## Features for efficient optimal control of robotic systems
 - Direct multiple-shooting method based on the **lifted contact dynamics** / **inverse dynamics**.