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Research questionHow can real-time MPC enforce control constraints and recover from infeasible initializations in strongly underactuated legged robots?Strong underactuation makes it difficult for MPC to satisfy control limits while finding feasible trajectories from dynamically infeasible initializations. Constrained optimization must also remain fast enough for real-time control.
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Robotics
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Latest papersRecent research connected to this question, newest first.Real-Time Control-Constrained DDP for Underactuated Balancing of Legged RobotsThe paper presents a control-constrained DDP framework using accelerated projected gradients, virtual constraints, and feasibility-driven multiple shooting. Evidence is limited to simulations of a quadruped performing two-leg standing under disturbances, slow catwalk, upright walking, and high-speed running.research paper · Sep 3, 2026
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