A real-time MPC for bipedal robots uses a detailed whole-body model near-term and a simplified rigid-body model later, solved with SQP in acados and tested in MuJoCo simulation on the HyPer-2 robot.
Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control
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Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking
A real-time MPC for bipedal robots uses a detailed whole-body model near-term and a simplified rigid-body model later, solved with SQP in acados and tested in MuJoCo simulation on the HyPer-2 robot.