Unified Multi-Rate Model Predictive Control for a Jet-Powered Humanoid Robot

Davide Gorbani , Giuseppe L'Erario, Hosameldin Awadalla Omer Mohamed, Daniele Pucci

📅 Accepted for publication at the 2025 IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, South Korea 🤖

📚 arXiv     🔧 Usage

Humanoids2025VideoHQ_final_version.mp4

Usage

Important

The installation has been tested on Ubuntu 22.04

This project uses pixi for environment and dependency management; check here for how to install it. To run the simulation:

Run the simulation:

pixi run run-simulation

This will execute the python script to run the Mujoco simulation of the iRonCub robot.

Maintainer

Davide Gorbani