Abstract-Controlling the robot with a permanently-updated optimal trajectory, also known as model predictive control, is the Holy Grail of whole-body motion generation. Before obtaining it, several challenges should be faced: computation cost, non-linear local minima, algorithm stability, etc. In this paper, we address the problem of applying the updated optimal control in real-time on the physical robot. In particular, we focus on the problems raised by the delays due to computation and by the differences between the real robot and the simulated model. Based on the optimal-control solver MuJoCo, we implemented a complete model-predictive controller and we applied it in real-time on the physical HRP-2 robot. It is the first time that such a whole-body model predictive controller is applied in real-time on a complex dynamic robot. Aside from the technical contributions cited above, the main contribution of this paper is to report the experimental results of this première implementation.

Abstract-In this paper, we present a system that enables humanoid robots to imitate complex whole-body motions of humans in real time. In our approach, we use a compact human model and consider the positions of the endeffectors as well as the center of mass as the most important aspects to imitate. Our system actively balances the center of mass over the support polygon to avoid falls of the robot, which would occur when using direct imitation. For every point in time, our approach generates a statically stable pose. Hereby, we do not constrain the configurations to be in double support. Instead, we allow for changes of the support mode according to the motions to imitate. To achieve safe imitation, we use retargeting of the robot's feet if necessary and find statically stable configurations by inverse kinematics. We present experiments using human data captured with an Xsens MVN motion capture system. The results show that a Nao humanoid is able to reliably imitate complex whole-body motions in real time, which also include extended periods of time in single support mode, in which the robot has to balance on one foot.