Experimental results are presented for the robot's response to external forces applied along both the negative x- and y-directions.

Authors present a unified #ModelPredictiveControl framework for #humanoid balance, integrating ankle, hip, and stepping strategies, with variable angular momentum weighting, optimized step timing, and an HQP whole-body controller.
ieeexplore.ieee.org/document/109...

#LeggedLocomotion