BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning

19 January 2022

04:28

Online planning of whole-body motions for legged robots is challenging due to the inherent nonlinearity in the robot dynamics. In this work https://arxiv.org/pdf/2201.07601.pdf, we propose a nonlinear MPC framework, the BiConMP which can generate whole body trajectories online by efficiently exploiting the structure of the robot dynamics. BiConMP is used to generate various cyclic gaits on Solo12 and its performance is evaluated on different terrain, countering unforeseen pushes and transitioning online between different gaits. Further, the ability of BiConMP to generate non-trivial acyclic whole-body dynamic motions on the robot is presented.