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.
Balance control using center of mass height variation: Limitations imposed by unilateral contact,
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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.