Description
Having a humanoid walk while carrying things needs real-time whole-body optimization beyond typical controllers. Whole-Body Humanoid MPC is a whole-body nonlinear MPC for humanoid loco-manipulation.
It optimizes full torque-level dynamics in real time on an extended OCS2, with joystick velocity and height control, hardware-agnostic.
Whole-body:Torque-level.
Real time:Nonlinear MPC.
Loco-manipulation:Walk and carry.
Agnostic:Any platform.
It optimizes full torque-level dynamics in real time on an extended OCS2, with joystick velocity and height control, hardware-agnostic.
Features
Whole-body:Torque-level.
Real time:Nonlinear MPC.
Loco-manipulation:Walk and carry.
Agnostic:Any platform.
