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 2024 IEEE-RAS International Conference on Humanoid Robots (Humanoids) 🤖

📂 Dataset

The dataset is organized in folders each representing a complete experiment. Each folder is organized as follows:

a .mp4 file containing the video of the experiment
a .mat file containing the associated data
a .md file containing the version of the code used

📊 Dataset Visualization

To visualize the experiment, we suggest using robot-log-visualizer as shown in the following video