Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions
Industry
Source: arXiv cs.ROPublish time unverified
arXiv:2608.26505v1 Announce Type: new Abstract: The Poppy Humanoid is an open-source, low-cost robot suitable for research and education in artificial intelligence. However, we are unaware of any published methodology that achieves reliable, unassisted bipedal locomotion on the standard Poppy hardware. This paper contributes a functional closed-loop walking controller for Poppy, based on the linear-quadratic regulator (LQR) framework for trajectory tracking.