A two-level MPC framework for humanoid walking that optimizes step timing, step length, and ankle torque with ALIP dynamics at the top and a linear arm/torso-extended SRB tracker below, improving push recovery and yaw rejection.
Whole-body model predictive control for biped locomotion on a torque-controlled humanoid robot,
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Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots
A two-level MPC framework for humanoid walking that optimizes step timing, step length, and ankle torque with ALIP dynamics at the top and a linear arm/torso-extended SRB tracker below, improving push recovery and yaw rejection.