Geometry-Aware Predictive Control for Walk-to-Run Bipedal Obstacle Crossing

This paper presents a geometry-aware predictive control framework for bipedal obstacle crossing across walking and running regimes. The proposed approach integrates a phase-structured trajectory generator with a constrained model predictive control (MPC) tracking layer to generate coordinated pelvis and swing-foot motions during obstacle traversal.

From the abstract. Our summary is in progress.