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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2605.04607 |
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| _version_ | 1866910194344132608 |
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| author | Stark, Franek Wiebe, Felix Vyas, Shubham Mronga, Dennis Kirchner, Frank |
| author_facet | Stark, Franek Wiebe, Felix Vyas, Shubham Mronga, Dennis Kirchner, Frank |
| contents | This paper presents a multi-phase whole-body model predictive control 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 using sequential quadratic programming (SQP) in acados. Using a prior specified contact schedule and a target walking speed, the controller optimizes joint torques without depending on prior selected foot step locations. The controller is validated in MuJoCo simulation on the 18-DoF bipedal robot HyPer-2 |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_04607 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking Stark, Franek Wiebe, Felix Vyas, Shubham Mronga, Dennis Kirchner, Frank Robotics This paper presents a multi-phase whole-body model predictive control 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 using sequential quadratic programming (SQP) in acados. Using a prior specified contact schedule and a target walking speed, the controller optimizes joint torques without depending on prior selected foot step locations. The controller is validated in MuJoCo simulation on the 18-DoF bipedal robot HyPer-2 |
| title | Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.04607 |