Reference-Free Model Predictive Control for Quadrupedal Locomotion

Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete
January 2024
Cite DOI
Type
Journal article
Publication
IEEE Access
Costs;Legged Locomotion;Trajectory;Dynamics;Collision Avoidance;Stability Analysis;Predictive Control;Quadrupedal Robots;Full-Body MPC;collision Avoidance;DDP