[2605.04607] Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking
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Computer Science > Robotics
arXiv:2605.04607 (cs)
[Submitted on 6 May 2026]
Title:Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking
Authors:Franek Stark, Felix Wiebe, Shubham Vyas, Dennis Mronga, Frank Kirchner
View a PDF of the paper titled Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking, by Franek Stark and 4 other authors
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Abstract:This paper presents a multi-phase whole-body model predictive control approach for bipedal walking, combining a detailed whole-body model in the near horizon with a simplified single-rigid-body model in the later prediction steps. This reduces computational complexity while retaining prediction capabilities. The resulting nonlinear optimal control problem is solved using sequential quadratic programming (SQP) in acados. Using a prior specified contact schedule and a target walking speed, the controller optimizes joint torques without depending on prior selected foot step locations. The controller is validated in MuJoCo simulation on the 18-DoF bipedal robot HyPer-2
Comments: Accepted to IEEE ICRA 2026 Workshop "2cnd Workshop on Frontiers of Optimization for Robotics"
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2605.04607 [cs.RO]
(or arXiv:2605.04607v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.04607
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arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Franek Stark [view email] [v1] Wed, 6 May 2026 07:54:49 UTC (1,128 KB)
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