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5
Whole-Body Model Predictive Control Locomotion on Talos
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.
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4
Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot
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.
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3
Talos stable multicontact
Using whole-body Model Predictive Control, Talos is making contact with a table and applying 50N on its surface.
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2
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1
MPC experiments on a torque-controlled Talos
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...
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