الملخص
This paper presents dynamics-relaxed model predictive control (DR-MPC), a novel MPC formulation for legged locomotion, and a tailored interior-point method (IPM) solver. The formulation combines online optimization feasibility by construction with a contact-aware input parameterization. DR-MPC moves the dynamics equality and affine input constraints into quadratic penalties and retains only nonempty box constraints. The resulting box-constrained quadratic program (QP) has a block-arrow Hessian that enables the state and affine-output directions to be eliminated through a Schur complement. The solver factors only the reduced control system after swing-force elimination and contact-aligned move blocking. For the evaluated implementations using the same DR-MPC formulation, our method achieves median end-to-end MPC speedups of $16.0\times$ over HPIPM and $4.4\times$ over OSQP, with comparable locomotion performance in simulation. DR-MPC achieves a median onboard MPC end-to-end time of $4.4$ ms and is validated on a Unitree Go1 quadruped. Open-source code will be made available after publication.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Wang, R., Tuerxun, A., Liu, S., Xiao, W., Drgoňa, J., Mo, Y., & Wu, L. (2026). DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion. https://omanscience.com/ar/articles/dr-mpc-fast-and-feasible-dynamics-relaxed-model-predictive-control-for-legged-locomotion
MLA 9
Wang, Run, et al. "DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion." https://omanscience.com/ar/articles/dr-mpc-fast-and-feasible-dynamics-relaxed-model-predictive-control-for-legged-locomotion.
شيكاغو (المؤلف–التاريخ)
Wang, Run, Alapati Tuerxun, Shuo Liu, Wei Xiao, Ján Drgoňa, Yilin Mo, and Liang Wu. 2026. "DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion." https://omanscience.com/ar/articles/dr-mpc-fast-and-feasible-dynamics-relaxed-model-predictive-control-for-legged-locomotion.
هارفارد
Wang, R., Tuerxun, A., Liu, S., Xiao, W., Drgoňa, J., Mo, Y. and Wu, L. (2026) 'DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion', Available at: https://omanscience.com/ar/articles/dr-mpc-fast-and-feasible-dynamics-relaxed-model-predictive-control-for-legged-locomotion.
فانكوفر
Wang R, Tuerxun A, Liu S, Xiao W, Drgoňa J, Mo Y, et al. DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion. https://omanscience.com/ar/articles/dr-mpc-fast-and-feasible-dynamics-relaxed-model-predictive-control-for-legged-locomotion
IEEE
R. Wang, A. Tuerxun, S. Liu, W. Xiao, J. Drgoňa, Y. Mo, and L. Wu, "DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion," https://omanscience.com/ar/articles/dr-mpc-fast-and-feasible-dynamics-relaxed-model-predictive-control-for-legged-locomotion.