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cs.RO2026
CacheMPC: Certified Cached Model Predictive Control for Quadruped Locomotion
Nimesh Khandelwal, Mehul Anand, Shakti S. Gupta +1
Model Predictive Control (MPC) is the standard predictive layer in hierarchical quadruped controllers, but the per-cycle QP solve limits the update rate achievable on embedded proc…
cs.RO2025
Compliant Control of Quadruped Robots for Assistive Load Carrying
Nimesh Khandelwal, Amritanshu Manu, Shakti S. Gupta +3
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used…
cs.RO2024
Distributed Inverse Dynamics Control for Quadruped Robots using Geometric Optimization
Nimesh Khandelwal, Amritanshu Manu, Shakti S. Gupta +3
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical mode…