Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment

Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti, Ines Sorrentino, Stefano Dafarra, Silvio Traversaro and Daniele Pucci

Paolo Maria Viceconte and Giulio Romualdi are co-first authors

📅 Submitted to the IEEE Humanoids 2024 🤖

🔧 Installation 🔧 | 📂 Dataset 📂

Reproducing the experiments

Stay tuned for the release of our cutting-edge code! 🚀

Maintainers

	👨‍💻 @paolo-viceconte
	👨‍💻 @GiulioRomualdi