3 docs tagged with "locomotion"

Zero Moment Point (ZMP) theory, developed by Vukobratović in 1969, was the theoretical foundation of humanoid locomotion for 30 years

Model Predictive Control (MPC) replaced ZMP as the dominant approach for dynamic locomotion

Since 2019, RL-based locomotion policies have surpassed MPC controllers on almost every metric: robustness, terrain adaptation, energy efficiency, and max speed