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.
Versatile reactive bipedal locomotion planning through hierarchical optimization,
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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.