Taizoon Chunawala

Multi-Rate Nonlinear Model Predictive Control for Wall-Supported Bipedal Locomotion of Quadrupedal Robots

Taizoon Chunawala, Jeeseop Kim, Kaveh Akbari Hamed

This paper presents a novel layered planning and control framework based on multi-rate nonlinear model predictive control (MR-NMPC) that enables quadrupedal robots to perform hybrid bipedal locomotion with wall-assisted support in constrained environments. Real-time trajectory op…Read more