Multi-phase whole-body MPC for bipedal locomotion uses detailed model near horizon and simplified model later, solved via acados SQP without preselected footsteps, validated in simulation.
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework With Tuning-Free Whole-Body Control
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Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking
Multi-phase whole-body MPC for bipedal locomotion uses detailed model near horizon and simplified model later, solved via acados SQP without preselected footsteps, validated in simulation.