A ZMP-based pendulum-plus-full-body-kinematics model with an MLP warm-start runs whole-body MPC for bipedal walking in under 17 ms and survives pushes in simulation and on the TOCABI humanoid.
Whole-body motion planning with centroidal dy- namics and full kinematics,
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
citation-role summary
method 1
citation-polarity summary
fields
cs.RO 1years
2025 1verdicts
CONDITIONAL 1roles
method 1polarities
use method 1representative citing papers
citing papers explorer
-
Real-time Whole-body Model Predictive Control for Bipedal Locomotion with a Novel Kino-dynamic Model and Warm-start Method
A ZMP-based pendulum-plus-full-body-kinematics model with an MLP warm-start runs whole-body MPC for bipedal walking in under 17 ms and survives pushes in simulation and on the TOCABI humanoid.