Real-Time MPC Controller Demonstration Using the MAESTRO Software Stack at Humanoids 2024

The IEEE-RAS International Conference on Humanoid Robots (Humanoids 2024) took place in Nancy, France, from November 22 to 24, 2024.

This premier event gathered leading global experts in humanoid robotics, offering a dynamic program filled with scientific presentations, workshops, competitions, and outreach activities.

Exhibition and Competitions: Over 30 exhibitors—spanning companies, startups, and academic institutions—showcased cutting-edge technologies, including new robots, sensors, and actuators.

At the Inria booth, the MAESTRO consortium was proudly represented by researchers and engineers from the Willow team of the Inria Paris Center. They demonstrated an MPC (Model Predictive Control) controller deployed on a quadruped robot, leveraging the MAESTRO software stack (Pinocchio, ProxSuite, Aligator, COAL, and more). This demonstration showcased how advanced optimization techniques enable real-time recalculation of locomotion trajectories, allowing the robot to adapt dynamically to environmental changes or model inaccuracies.

This demonstration highlighted MAESTRO’s capability to bridge cutting-edge research with practical deployment in dynamic robotics environments.