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Anti-Gravity Walking by a Flying Humanoid Robot via Thrust-Rate Input Whole-Body Model Predictive Control

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Flying humanoids are expected to perform tasks in diverse environments, while their existing locomotion is mainly limited to aerial flight and ground walking. The capability to move in complex three-dimensional space can greatly expand their application range. For such walking motion on ceilings and similar anti-gravity environments, whole-body MPC is effective. However, the discontinuous changes in dynamic structure accompanying contact switching during walking can induce thrust spikes, resulting in control instability. Therefore, in this work, we propose and implement a real-time whole-body

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