用全身模型预测控制提升机器人步态稳定性，可抗推倒和打滑。
Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt
- 结合全身模型预测控制与步序规划实现稳定行走
- 仿真中实现精准速度跟踪及推倒、打滑后的恢复能力
- 分析步序规划敏感性，帮助理解控制效果
本文提出一种新型控制器用于双足机器人Bolt。该方法结合全身模型预测控制（Whole-body MPC）与步序规划器，实现鲁棒的运动控制。仿真结果表明，系统具备良好的速度跟踪能力，并能有效应对外界推力和地面打滑情况。此外，论文还对步序规划问题进行了理论敏感性分析，深化了对控制结果的理解。
原文摘要 · Abstract (English)
This paper presents a novel controller for the bipedal robot Bolt. Our approach leverages a whole-body model predictive controller in conjunction with a footstep sequencer to achieve robust locomotion. Simulation results demonstrate effective velocity tracking as well as push and slippage recovery abilities. In addition to that, we provide a theoretical sensitivity analysis of the footstep sequencing problem to enhance the understanding of the results.
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