  In this paper, previous works on the Model Predictive Control (MPC) and the
Divergent Component of Motion (DCM) for bipedal walking control are extended.
To this end, we employ a single MPC which uses a combination of Center of
Pressure (CoP) manipulation, step adjustment, and Centroidal Moment Pivot (CMP)
modulation to design a robust walking controller. Furthermore, we exploit the
concept of time-varying DCM to generalize our walking controller for walking in
uneven surfaces. Using our scheme, a general and robust walking controller is
designed which can be implemented on robots with different control authorities,
for walking on various environments, e.g. uneven terrains or surfaces with a
very limited feasible area for stepping. The effectiveness of the proposed
approach is verified through simulations on different scenarios and comparison
to the state of the art.
