A real-time MPC controller with adjustable step timing and mixed-integer foothold selection lets bipedal robots step over or around ground obstacles while avoiding fast-moving body obstacles.
Bipedal walking on constrained footholds with mpc footstep control,
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Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing
A real-time MPC controller with adjustable step timing and mixed-integer foothold selection lets bipedal robots step over or around ground obstacles while avoiding fast-moving body obstacles.