most citedBracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models

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math.OC2026

MPC: A Parallel-in-horizon and Construction-free NMPC Solver

Liang Wu, Bo Yang, Junheng Li +5

The alternating direction method of multipliers (ADMM) has gained increasing popularity in embedded model predictive control (MPC) due to its code simplicity and pain-free paramete…