MPC-based Minimum Time Humanoid Robot Footstep Planning

MPC-based Minimum Time Humanoid Robot Footstep Planning | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article MPC-based Minimum Time Humanoid Robot Footstep Planning Arthur Costa Stevenson Mota, Marcos Ricardo Omena De Albuquerque Máximo This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7775261/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 6 You are reading this latest preprint version Abstract Robots are becoming increasingly common across various domains, performing tasks with little to no supervision. Among them, humanoid robots are best suited for human environments, and are likely to eventually become part of daily life. However, precise movement is essential for effective interaction, as positioning errors can often lead to task failure. Therefore, this work contributes by proposing an approach based on Model Predictive Control for footstep planning, a key step for precise humanoid robot locomotion. It examines the theoretical foundations, the constraints of the chosen robot platform, and two techniques for handling obstacles: “Step-over Avoidance” and “Bypass Avoidance”. Additionally, two methods — the “Increasing Horizon Method” and the “Constraint Relaxation Method” — are introduced to find minimum time solutions. The paper also details data collection, performance analysis, and presents the results and conclusions of the developed program. Model Predictive Control Footstep Planning Humanoid Robotics Mixed-integer Optimization Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Reviewers agreed at journal 09 Apr, 2026 Reviewers agreed at journal 09 Apr, 2026 Reviewers invited by journal 09 Dec, 2025 Editor assigned by journal 04 Oct, 2025 Submission checks completed at journal 04 Oct, 2025 First submitted to journal 03 Oct, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7775261","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":559054093,"identity":"e2fae163-9a85-4d6d-ab19-e44e6f8ef708","order_by":0,"name":"Arthur Costa Stevenson Mota","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABCklEQVRIiWNgGAWjYHACNlQuP4hIKMCngxmihQfGl2wAaTEgRYvBATCJWwP/7PPHHvPusbO3Z+8xfFzwxybP+PzqxA8PDBjk+cUOYNUicS6Z3ZjnWXJiD88ZY+OZbWnFZjfebpYAOsxw5uwE7NacYWaT5jlwIIFHIi1NmrfhcOK2G2c3gLQkGNzGrkUeqsWeR/5Z+m+eP4cTN884u/kHPi0GUC2MPRLMx5h52A4nbuDv3YbXFsMzzGaScw4A/XIm+bA0b1ta4owbvNssEgwkcPpF7gzjM4k3B+zs2dsPNn7m+WOT2N9/dvPNHxU28vzSOLyPCSTAKiWIVQ4C/AdIUT0KRsEoGAUjAAAAIoFbOVPfm5YAAAAASUVORK5CYII=","orcid":"","institution":"Instituto Tecnológico de Aeronáutica","correspondingAuthor":true,"prefix":"","firstName":"Arthur","middleName":"Costa Stevenson","lastName":"Mota","suffix":""},{"id":559054095,"identity":"59e066f0-c9bd-4d29-b130-0cc1897e30a9","order_by":1,"name":"Marcos Ricardo Omena De Albuquerque Máximo","email":"","orcid":"","institution":"Instituto Tecnológico de Aeronáutica","correspondingAuthor":false,"prefix":"","firstName":"Marcos","middleName":"Ricardo Omena De Albuquerque","lastName":"Máximo","suffix":""}],"badges":[],"createdAt":"2025-10-03 17:08:14","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-7775261/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-7775261/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":98063288,"identity":"1aae28a3-6b9b-4698-baff-ca2ccdd32d7e","added_by":"auto","created_at":"2025-12-12 11:21:56","extension":"json","order_by":0,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":4080,"visible":true,"origin":"","legend":"","description":"","filename":"76d518a9c76c4e0c9ecd159fb3a580f4.json","url":"https://assets-eu.researchsquare.com/files/rs-7775261/v1/ceaae36443180c818860a13f.json"},{"id":98428997,"identity":"93299cf3-dda4-422a-ab04-fbec1618fd62","added_by":"auto","created_at":"2025-12-17 16:42:39","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":5896885,"visible":true,"origin":"","legend":"","description":"","filename":"manuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-7775261/v1_covered_d59d738b-15fc-478c-be2b-9c822508f9c7.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"MPC-based Minimum Time Humanoid Robot Footstep Planning","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"journal-of-intelligent-and-robotic-systems","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"","sideBox":"Learn more about [Journal of Intelligent \u0026 Robotic Systems](https://link.springer.com/journal/10846)","snPcode":"10846","submissionUrl":"https://submission.springernature.com/new-submission/10846/3","title":"Journal of Intelligent \u0026 Robotic Systems","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Open","inReviewEnabled":true,"inReviewRevisionsEnabled":true},"keywords":"Model Predictive Control, Footstep Planning, Humanoid Robotics, Mixed-integer Optimization","lastPublishedDoi":"10.21203/rs.3.rs-7775261/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-7775261/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eRobots are becoming increasingly common across various domains, performing tasks with little to no supervision. 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