HUMANOID CONTROL STUDY 01 / INTERACTIVE

Loco-manipulation workbench

Set a waypoint, pick up a payload, and carry it there before placing it.

FORCE MPC + WHOLE-BODY QP

Preparing your control workspaceLoading the articulated robot and numerical controller…Each visitor runs an independent simulation.

SIMULATION TIME0.00 s

TASK STAGEReady

BODY HEIGHT— m

PAYLOADOn ground

Up to 3 future footsteps · preview beyond the 0.6 s MPC horizon

Future footstepsHand planSwing curvesForce on robotMPC CoPNet CoP

Force scale: 100 N = 0.50 m · CoP is computed from applied MPC contact moments

Playback speed

Times use the simulation clock. Pauses stop the clock; release waits for arrival.

Reduced rigid-body motion, articulated kinematics, and a whole-body torque-feasibility QP at 20 Hz + event refreshes. Cartesian PD runs at 500 Hz.

Mission timeline

Simulation clock · paused

The mission starts when you press Play.

PICK UP 5.0 s

EARLIEST RELEASE 15.0 s

0 s19 s

Pickupin 5.000 s

Scheduled 5.000 s· Actual —

Place / releaseWaits for arrival

Earliest 15.000 s· Planned After arrival· Actual —

Balance MPC

WAITING

Solve time— ms

Prediction horizon— s

Foot forces and moments drive body motion.

Whole-body QP

WAITING

Peak joint torque— N·m

Payload in model— kg

Articulated tracking and torque feasibility.

Contact schedule

NOW → FUTURE

Stance Swing— ms intervals

Up to three future footsteps per foot are shown in 3D.

Applied stance forces & MPC center of pressure

FORCE ON ROBOT · MODEL CoP

FOOTCONTACTFz NCoP x cmFx / Fy N

L————

R————

Net MPC CoP—— N total Fz

CoP x is foot-local on the heel-toe support line, ±15 cm; lateral CoP is zero in this model. Net CoP uses normal-force weighting in world X/Y. Arrows show the applied world-frame MPC force, 100 N = 0.50 m.