Here is an Upkie wheeled biped roaming outdoors by model predictive control:

It goes around with an average velocity around 1.5 m/s. There are some links in the video to learn more about how this agent is made:

• Open loop and closed loop model predictive control
• Model predictive control agent
• Wheeled inverted pendulum model
• ProxSuite library with the ProxQP solver
• Awesome Open Source Robots

The agent running in this video is the Pink balancer. It combines MPC and differential IK for crouching smoothly. Hoping this helps newcomers get started with model predictive control!