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

Constant Roux; Côme Perrot; Olivier Stasse

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

Robotics 2024-12-03 v1

Authors: Constant Roux , Côme Perrot , Olivier Stasse

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.

Keywords

whole-body MPC footstep sequencer biped robot sensitivity analysis locomotion control

Cite

@article{arxiv.2412.01713,
  title  = {Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt},
  author = {Constant Roux and Côme Perrot and Olivier Stasse},
  journal= {arXiv preprint arXiv:2412.01713},
  year   = {2024}
}

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