Mangal Kothari

CacheMPC: Certified Cached Model Predictive Control for Quadruped Locomotion

Nimesh Khandelwal, Mehul Anand, Shakti S. Gupta, Mangal Kothari

Model Predictive Control (MPC) is the standard predictive layer in hierarchical quadruped controllers, but the per-cycle QP solve limits the update rate achievable on embedded processors. Because legged gaits revisit a bounded region of state space, MPC solutions admit caching an…Read more