u/ispaik06

Read Me!

Update Log:

• Optimized matrix building process before QP solving to fix simulation lag (Now runs much faster)
• Resolved COP constraint errors to achieve stable heading and yaw control

Next goal: walking on unknown terrain

Currently working on improving stability of walking as well as implementing recovery stepping against external disturbances.

The video is sped up so the sim time matches real-time. There’s a massive latency between real-time and sim time because of the MPC solving time. 🫩 (also have to deal with later)

Running this on M1 mac air with 8GB RAM, so any optimization tips arr welcome!