Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt

C. Roux, C. Perrot, O. Stasse,
International Conference on Humanoid Robotics 2024, 2024, HAL Publisher Bib

Abstract:

This paper presents a novel controller for the bipedal robot Bolt. Our approach leverages a whole-body model predictive controller in conjunction with a footstep sequencer to achieve robust locomotion. Simulation results demonstrate effective velocity tracking as well as push and slippage recovery abilities. In addition to that, we provide a theoretical sensitivity analysis of the footstep sequencing problem to enhance the understanding of the results.