End-effector Tracking Control on Unitree G1 (Scenario C Fixed Stance pHRI)
2.703RMS ErrorWhole-Body Impedance MPC
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Whole-Body Impedance MPCController ID=D6, Inflation=Disabled2026.06 | 2.703 | 3.904 | |
| Whole-Body Impedance MPCController ID=D7, Configuration=Full2026.06 | 2.703 | 3.904 | |
| SK05 PIController ID=D22026.06 | 6.413 | 5.325 | |
| Whole-Body Impedance MPCController ID=D5, Kalman Filter=Disabled2026.06 | 7.42 | 7.974 | |
| SK05 PDController ID=D12026.06 | 8.996 | 9.57 | |
| WBC + PDController ID=D42026.06 | 8.996 | 9.57 | |
| Fixed-base MPCController ID=D32026.06 | 11.23 | 11.299 |