Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control

Convex MPC for quadrupeds — simplified rigid-body dynamics turn ground-reaction-force planning into a small QP solved in real time; the classic model-based baseline behind many open-source quadruped controllers.四足机器人的凸 MPC：用简化刚体动力学把足端地面反作用力规划变成可实时求解的小规模 QP；众多开源四足控制器背后的经典基于模型的基线。