Variable impedance MPC formulations contain a false feasibility gap between the assumed stiffness set and the set realizable under actuator dynamics, with an analytical threshold below which no command works.
Agile maneuvers in legged robots: A predictive control approach
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False Feasibility in Variable Impedance MPC for Legged Locomotion
Variable impedance MPC formulations contain a false feasibility gap between the assumed stiffness set and the set realizable under actuator dynamics, with an analytical threshold below which no command works.