Paper ID: 2412.01713

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

Constant Roux, Côme Perrot, Olivier Stasse

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.

Submitted: Dec 2, 2024