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This paper presents a novel Adaptive-frequency MPC framework for bipedallocomotion over terrain with uneven stepping stones. In detail, we intend toachieve adaptive foot placement and gait period for bipedal periodic walkinggait with this MPC, in order to traverse terrain with discontinuities withoutslowing down. We pair this adaptive-frequency MPC with a kino-dynamicstrajectory optimization for optimal gait periods, center of mass (CoM)trajectory, and foot placements. We use whole-body control (WBC) along withadaptive-frequency MPC to track the optimal trajectories from the offlineoptimization. In numerical validations, our adaptive-frequency MPC frameworkwith optimization has shown advantages over fixed-frequency MPC. The proposedframework can control the bipedal robot to traverse through uneven steppingstone terrains with perturbed stone heights, widths, and surface shapes whilemaintaining an average speed of 1.5 m/s.

Dynamic Walking of Bipedal Robots on Uneven Stepping Stones via Adaptive-frequency MPC