Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach

Understand

We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots.

• The proposed approach uses a constrained optimal control algorithm known as SLQ.
• We improve the efficiency of this algorithm by introducing a multi-processing scheme for estimating value function in its backward pass.
• This pass has been often calculated as a single process.