Preprint
Aug 2026
Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions
A functional closed-loop walking controller for Poppy, based on the linear-quadratic regulator (LQR) framework for trajectory tracking, which learns a quadratic cost function for an LQR controller that substantially improves the reliability of the motion.
Xu-Lin Chen, Borui He, Rui-Peng Liu et al.
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