2026
A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots With Non-Negligible Manipulator Dynamics
Ruturaj Sambhus, Kapi Ketan Mehta, Ali MirMohammad Sadeghi, Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala +3
RA-L 2026
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