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DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion
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
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