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.
Dynamic locomotion in the MIT Cheetah 3 through convex model-predictive control
2 Pith papers cite this work. Polarity classification is still indexing.
2
Pith papers citing it
citation-role summary
background 1
citation-polarity summary
fields
cs.RO 2years
2026 2verdicts
UNVERDICTED 2roles
background 1polarities
background 1representative citing papers
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.
citing papers explorer
-
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.