Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
Giulio Romualdi,Stefano Dafarra,Giuseppe L'Erario,Ines Sorrentino,Silvio Traversaro,Daniele Pucci,Giulio Romualdi,Stefano Dafarra,Giuseppe L'Erario,Ines Sorrentino,Silvio Traversaro,Daniele Pucci
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact forces and torques and contact locations. Differently from bipedal walking architectures based on simplified models, the presented approach considers the reduced ce...
