# Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt

arXiv: https://arxiv.org/abs/2412.01713 · HTML: https://mlsanity.com/paper/2412.01713/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Dec 2024.

## Built on by (most cited first, 2 of 2)

- [Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot](https://mlsanity.com/paper/2508.02194/) (2025)
- [STRIDER: Stepping-Enabled Multi-Gait Hierarchical 3D Loco-Manipulation Framework for Humanoid Robots](https://mlsanity.com/paper/2609.23483/) (2026)

## Abstract (arXiv)

This paper presents a novel controller for the bipedal robot Bolt. Our approach leverages a whole-body model predictive controller in conjunction with a footstep sequencer to achieve robust locomotion. Simulation results demonstrate effective velocity tracking as well as push and slippage recovery abilities. In addition to that, we provide a theoretical sensitivity analysis of the footstep sequencing problem to enhance the understanding of the results.