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.
Compliant leg behaviour explains basic dynamics of walking and running
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
citation-role summary
background 1
citation-polarity summary
fields
cs.RO 1years
2026 1verdicts
CONDITIONAL 1roles
background 1polarities
background 1representative citing papers
citing papers explorer
-
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.