Our paper From centroidal to whole-body models for legged locomotion: a comparative analysis with Ewen Dantec, has been accepted at the 2024 IEEE RAS Humanoids conference which will take place in Nancy, France in November.

In this paper, we investigate a comparison of using whole-body and two different reduced-order models for nonlinear model-predictive control on bipedal robots, using our optimal control library aligator (which has recently reached 100 stars on GitHub!)

screenshot from paper

We will be there in November to present our work, and perhaps more 😃

Check out the preprint here 📑