A two-layer system uses multi-rate NMPC to jointly plan contact points and body trajectories for wall-supported bipedal walking in quadrupeds, showing 2.9 times higher simulation success than heuristic MPC on rough terrain.
Robust stabilization of periodic gaits for quadrupedal locomotion via QP- based virtual constraint controllers
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A CBF-augmented NMPC framework for two quadrupeds models the robot-payload system as a DAE and enforces collision avoidance in hardware tests under uncertainty.
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Multi-Rate Nonlinear Model Predictive Control for Wall-Supported Bipedal Locomotion of Quadrupedal Robots
A two-layer system uses multi-rate NMPC to jointly plan contact points and body trajectories for wall-supported bipedal walking in quadrupeds, showing 2.9 times higher simulation success than heuristic MPC on rough terrain.
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Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots
A CBF-augmented NMPC framework for two quadrupeds models the robot-payload system as a DAE and enforces collision avoidance in hardware tests under uncertainty.