Robotics Group Project
Upper Body Control of Soccer Robot NAO using MPC
A robotics project focused on Model Predictive Control for upper-body balance during walking and ball-kicking, with analytical COM calculations and comparison against a C++ MPC library.
Summary
This university group project involved upper-body control of the NAO soccer robot. The goal was to improve balance behavior during walking and ball-kicking by using Model Predictive Control.
Technical focus
- Implemented analytical solutions for Center of Mass position and target coordinates.
- Compared the analytical implementation against a C++ MPC library.
- Enabled dynamic Z-axis COM position changes.
- Connected robotics modeling, control constraints and practical robot motion behavior.
Recruiter takeaway
This project demonstrates robotics control fundamentals, MPC implementation thinking and the ability to translate motion behavior into controllable mathematical structure.
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