A Novel Model Predictive Control Framework Using Dynamic Model Decomposition Applied to Dynamic Legged Locomotion
Junjie Shen Dennis Hong Junjie Shen Dennis Hong
Dynamic locomotion for legged robots is difficult because the system dynamics are highly nonlinear and complex, nominally underactuated and unstable, multi-input and multi-output, as well as time-variant and hybrid. One usually faces the choice between the intricate full-body dynamics which remains computationally expensive and sometimes even intractable, and the empirically simplified model which...