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.
A real-time iteration scheme for nonlinear optimization in optimal feedback control
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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.