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

TL;DR

This paper introduces a novel whole-body model predictive controller combined with a footstep sequencer for the biped robot Bolt, demonstrating robust locomotion, velocity tracking, and recovery capabilities through simulation and sensitivity analysis.

Contribution

The paper presents a new integrated control approach for bipedal robots, combining MPC with footstep sequencing and includes a theoretical sensitivity analysis of the sequencing process.

Findings

Effective velocity tracking demonstrated in simulations

Robust push and slippage recovery achieved

Sensitivity analysis provides insights into footstep sequencing stability

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.