Convex Model Predictive Control of Single Rigid Body Model on SO(3) for Versatile Dynamic Legged Motions
Junjie Shen,Dennis Hong,Junjie Shen,Dennis Hong
This paper presents a convex model predictive control framework for versatile dynamic legged motions with negligible leg dynamics. The framework utilizes the single rigid body model linearly approximated around the operating point. With ground reaction forces as direct control inputs to the system, no reference control trajectory needs to be specified in advance. By using the rotation matrix for t...
