Real-time Whole-body Model Predictive Control for Bipedal Locomotion with a Novel Kino-dynamic Model and Warm-start Method

Junhyung Kim, Hokyun Lee, Jaeheung Park

Advancements in optimization solvers and computing power have led to growing interest in applying whole-body model predictive control (WB-MPC) to bipedal robots. However, the high…