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Here are some examples of walking pattern generators using Model predictive control.

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humanoid_gait_generation_by_MPC

Here are some examples of walking pattern generators using Model predictive control.

List of paper which is implemented in this repository.

  • P. -b. Wieber, "Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations," 2006 6th IEEE-RAS International Conference on Humanoid Robots, Genova, Italy, 2006, pp. 137-142, doi: 10.1109/ICHR.2006.321375.

Required library

How to run

  1. install Eigen3.4 & osqp & osqp-eigen
  2. cd [your target directory]
  3. mkdir build
  4. cmake ..
  5. make
  6. ./exmple

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Here are some examples of walking pattern generators using Model predictive control.

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