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.
Optimal Scheduling of Models and Horizons for Model Hierarchy Predictive 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.