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Using a 14 DoF model and a MPC scheme based on the optimal control library Crocoddyl, Talos performs dynamic walking motions with and without foot reference trajectories.

In this video, the humanoid robot Talos performs various walking motions, including stairstep crossing, using a whole-body model predictive control scheme based on the Crocoddyl library.

Using whole-body Model Predictive Control, Talos is making contact with a table and applying 50N on its surface.

This video presents a set of experiments performed with a Crocoddyl based MPC scheme on a whole body torque-controlled Talos. Collision avoidance, center of mass tracking, target tracking and stabilization have been achieved at a 100 Hz MPC freque...