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Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions

arXiv · AI, language, vision and robotics · article · Aug 27, 2026 · UTC

The Poppy Humanoid is an open-source, low-cost robot suitable for research and education in artificial intelligence. However, we are unaware of any published methodology that achieves reliable, unassisted bipedal locomotion on the standard Poppy hardware. This paper contributes a functional closed-loop walking controller for Poppy, based on the linear-quadratic regulator (LQR) framework for trajectory tracking. Starting with data collected from open-loop playback of a nominal walking trajectory, our proposed method learns a quadratic cost function for an LQR controller that substantially impro

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