Optimal Controls (MPC) Based Implementations of Bipedal Robot Papers

• A robust linear MPC approach to online generation of 3D biped walking motion [Paper]
• Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control [Paper] [Video] [Code]
• Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots [Paper]
• The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors [Paper] [Video]
• Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints [Paper] [Code]
• Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment [Paper] [Code]
• Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking [Paper]
• Dynamic Walking of Bipedal Robots on Uneven Stepping Stones via Adaptive-frequency MPC [Paper]
• Baseline Walking Controller [Code]
• Model Predictive Control of Running Biped Robot [Paper]

Model Based Jumping for Legged Robots

• Continuous Jumping for Legged Robots on Stepping Stones via Trajectory Optimization and Model Predictive Control
• Contact-timing and Trajectory Optimization for 3D Jumping on Quadruped Robots
• Optimized Jumping on the MIT Cheetah 3 Robot
• Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds