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

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

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