BiConMP: a nonlinear model predictive control framework for whole body motion planning
Online planning of whole-body motions for legged robots is challenging due to the inherent nonlinearity in the robot dynamics. In this work, we propose a nonlinear model predictive control (MPC) framework, the BiConMP which can generate whole body trajectories online by efficiently exploiting the st...
| Main Authors: | , , , , , |
|---|---|
| Format: | Journal article |
| Language: | English |
| Published: |
IEEE
2023
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