Bipedal Walking Control using Variable Horizon MPC

16 November 2020

02:59

This video shows a set of new tests we performed on Bolt. Thanks to our feedback control based on Model Predictive Control (https://arxiv.org/pdf/2010.08198.pdf), the robot can perform walking in the presence of different uncertainties. We conducted tests on 5 different scenarios, 1) walking forward/backward 2) uneven surface 3) soft surface 4) push recovery 5) slippage recovery. We will open-source all the codes in a near future, but here is the control algorithm we use