This paper presents the acados software package, a collection of solvers for fast embedded
optimization intended for fast embedded applications. Its interfaces to higher-level …

This article presents a novel representation-free model predictive control (RF-MPC)
framework for controlling various dynamic motions of a quadrupedal robot in three …

Model predictive control (MPC) of legged and humanoid robotic systems has been an active
research topic in the past decade. While MPC for robotic systems has a long history, its …

Quadratic programming (QP) has become a core modelling component in the modern
engineering toolkit. This is particularly true for simulation, planning and control in robotics …

In recent years, the enormous demand for computing resources resulting from massive data
and complex network models has become the limitation of deep learning. In the large-scale …

This work combines control barrier functions (CBFs) with a whole-body controller to enable
self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-collision …

This work investigates a data-driven template model for trajectory planning of dynamic
quadrupedal robots. Many state-of-the-art approaches involve using a reduced-order model …

Template-based reduced-order models have provided a popular methodology for real-time
trajectory planning of dynamic quadrupedal locomotion. However, the abstraction and …

This letter aims to develop a hierarchical nonlinear control algorithm, based on model
predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate …

This article presents a layered control approach for real-time trajectory planning and control
of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A …