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

📅 This paper has been accepted for publication at the 2024 IEEE-RAS International Conference on Humanoid Robots, (Humanoids) Nancy, France, 2024 🤖

📚 Paper | 🖼️ Poster | 🔧 Installation | 🌐 Website | 📂 Dataset

Reproducing the experiments

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

Maintainers

	👨‍💻 @paolo-viceconte
	👨‍💻 @GiulioRomualdi