Evaluating whole-body control architectures (WQP, HQP, Passivity, LQR) for humanoid balance in Mujoco simulation with learning-based residual compensation. MSc thesis @ University West 2026.
robotics simulation master-thesis pytorch biomechanics control-theory whole-body-control quadratic-programming residual-learning humanoid-robot lqr mujoco lqr-controller push-recovery humanoid-robotics balance-control passivity-based-control robot-balance
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Updated
Jun 3, 2026 - Python