{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/online-non-linear-centroidal-mpc-with","title":"Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots","arxiv_id":"2409.01144","date":"2024-09-02","proceeding":null,"authors":["Mohamed Elobaid","Giulio Turrisi","Lorenzo Rapetti","Giulio Romualdi","Stefano Dafarra","Tomohiro Kawakami","Tomohiro Chaki","Takahide Yoshiike","Claudio Semini","Daniele Pucci"],"abstract":"Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent simplification of the robot's dynamics, were shown to endow robots with a step-adjustment capability in reaction to small pushes, and, moreover, in the case of uncertain parameters - as unknown payloads - they were shown to be able to provide some practical, albeit limited, robustness. In this work, we provide rigorous certificates of their closed loop stability via a reformulation of the centroidal MPC controller. This is achieved thanks to a systematic procedure inspired by the machinery of adaptive control, together with ideas coming from Control Lyapunov functions. Our reformulation, in addition, provides robustness for a class of unmeasured constant disturbances. To demonstrate the generality of our approach, we validated our formulation on a new generation of humanoid robots - the 56.7 kg ergoCub, as well as on a commercially available 21 kg quadruped robot, Aliengo.","url_abs":"https://arxiv.org/abs/2409.01144v3","url_pdf":"https://arxiv.org/pdf/2409.01144v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"online-non-linear-centroidal-mpc-with","repo_url":"https://github.com/ami-iit/paper_elobaid_2024_stable-centroidal-mpc","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"online-non-linear-centroidal-mpc-with","repo_url":"https://github.com/iit-dlslab/quadruped-pympc","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"jax","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}