Real-Time Constrained Nonlinear Model Predictive Control on SO(3) for Dynamic Legged Locomotion
Seungwoo Hong,Joon-Ha Kim,Hae-Won Park,Seungwoo Hong,Joon-Ha Kim,Hae-Won Park
This paper presents a constrained nonlinear model predictive control (NMPC) framework for legged locomotion. The framework assumes a legged robot as a floating base single rigid body with contact forces being applied to the body as external forces. With consideration of orientation dynamics evolving on the rotation manifold SO(3), analytic Jacobians which are necessary for constructing the gradien...
