Bipedal Stance Disturbance Rejection on Scenario A Fixed Stance, 8 N Step Disturbance
1.281RMS Error (mm)WBC + Impedance MPC + Kalman (no inflation)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| WBC + Impedance MPC + Kalman (no inflation)alpha=12026.06 | 1.281 | 0.037 | |
| WBC + Impedance MPC + Kalman + covariance inflationalpha=42026.06 | 1.281 | 0.037 | |
| SK05 PIKI=150 N/(m·s), anti-windup=true2026.06 | 6.818 | 5.861 | |
| WBC + Impedance MPC (no Kalman)Kalman Filter=false2026.06 | 7.735 | 8.529 | |
| SK05 PDKP=800 N/m, KD=40 Ns/m2026.06 | 9.24 | 10.166 | |
| WBC hierarchy + PDprediction=none2026.06 | 9.454 | 10.207 | |
| Fixed-base MPCInertia Matrix=uses M^-1 instead of M_bar^-12026.06 | 11.124 | 11.855 |