# Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization

arXiv: https://arxiv.org/abs/2305.10917 · HTML: https://mlsanity.com/paper/2305.10917/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 May 2023.

## Built on by (most cited first, 3 of 3)

- [Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration](https://mlsanity.com/paper/2502.14795/) (2025)
- [StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotion](https://mlsanity.com/paper/2503.15082/) (2025)
- [One-shot Adaptation of Humanoid Whole-body Motion with Walking Priors](https://mlsanity.com/paper/2510.25241/) (2025)

## Abstract (arXiv)

In this paper we consider the problem of allowing a humanoid robot that is subject to a persistent disturbance, in the form of a payload-carrying task, to follow given planned footsteps. To solve this problem, we combine an online nonlinear centroidal Model Predictive Controller - MPC with a contact stable force parametrization. The cost function of the MPC is augmented with terms handling the disturbance and regularizing the parameter. The performance of the resulting controller is validated both in simulations and on the humanoid robot iCub. Finally, the effect of using the parametrization on the computational time of the controller is briefly studied.