2025
Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking
ICRA 2025
Quadratic Programs (QPs) are widely used in the control of walking robots, especially in Model Predictive Control (MPC) and Whole-Body Control (WBC). In both cases, the controller design requires the formulation of a QP and the selection of a suitable QP solver, both requiring considerable time and