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     🔧 Installation     🔧 Usage

Humanoids2025VideoHQ_final_version.mp4

Installation

Clone this repo:

git clone https://github.com/ami-iit/paper_gorbani_2025_humanoids_multi-rate-mpc-ironcub

Create the conda environment:

cd paper_gorbani_2025_humanoids_multi-rate-mpc-ironcub
conda env create -f environment.yml

Install the repo ironcub-models and then install this repo:

mkdir build
cd build
ccmake ..
make install

Then, to source the setup.sh file, run:

source <path/to/install/folder>/share/setup.sh

Usage

To run a simulation, open a terminal, navigate to the root folder of this repo and run:

python src/variable_sampling_mpc.py

Maintainers

Davide Gorbani