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Related Articles from SNS
Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking
arXiv:2605.04607v2 Announce Type: replace Abstract: This paper presents a multi-phase whole-body model predictive control (MPC) approach for bipedal walking, combining a detailed whole-body model in the near horizon with a simplified single-rigid-body model in the later prediction steps. This reduces computational complexity while retaining prediction capabilities. The resulting nonlinear optimal control problem is solved entirely within the general-purpose, off-the-shelf nonlinear MPC...