Kapi Ketan Mehta

A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots With Non-Negligible Manipulator Dynamics

Model predictive control (MPC) with reduced-order template models has proven effective for dynamic legged locomotion, but loco-manipulation introduces additional complexity requiring efficient algorithms for high-degree-of-freedom (DoF) systems. This letter presents a computationally efficient nonli