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Author

V. A. Vu

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Preprint Oct 2026

Adaptive Whole-Body MPC with Optimal Posture Planning for Humanoid Robots under Unknown Payloads

Humanoid robots performing lifting and material-handling tasks must maintain balance despite unknown and varying payloads. However, payload uncertainty significantly affects whole-body dynamics and may destabilize conventional controllers. We propose an adaptive whole-body control architecture that integrates three com...

Manh Cuong Nguyen, D. Vu, V. A. Vu et al. · 0 citations

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