collaborators

1 paper

cs.RO2025

A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots with Non-Negligible Manipulator Dynamics

Ruturaj Sambhus, Kapi Ketan Mehta, Ali MirMohammad Sadeghi +6

Model predictive control (MPC) combined with reduced-order template models has emerged as a powerful tool for trajectory optimization in dynamic legged locomotion. However, loco-ma…