Anti-Gravity Walking by a Flying Humanoid Robot via Thrust-Rate Input Whole-Body Model Predictive Control

arXiv:2609.07544 · cs.RO · Submitted 2026-09-07 · Read on arXiv

cs.RO

Submitted: 2026-09-07

Updated: 2026-09-07

DOI: 10.1109/LRA.2026.3734888

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Regularization — 7× in this paper · explained in 3 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes

Sources

• iRonCub 3: The Jet-Powered Flying Humanoid Robot
• Full-Body Torque-Level Non-linear Model Predictive Control for Aerial Manipulation

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies