The videos posted so far have been only the trajectory generation, i.e. the feedforward signal. In the videos below the trajectories were applied in a realistic simulation. The results are not good. Where the trajectory generation itself is flexible and robust, the MPC applied in simulation is far from it.
The biped in 3D with heels and toes does not perform well in an MPC simulationThe biped in sagittal plane is the only model that works in MPC simulationQuadruped with pin-feet in 3D, in simulation (no MPC repetition, strong feedback control)When the optimized forces are applied directly and collision detection is disabled the results are little betterFor the quadruped results are slightly better when the optimized forces are applied directly and collision detection is disabled