Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt

Abstract--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. A. Context Bipedal robotics, with its origins tracing back to the end of the last century, has witnessed a significant surge in recent years.