1. The red line is the CoM trajectory (output from global planner), the green line is the state trajectory and the arrows are the contact force trajectories F(t) (output from local body planner) and the 4 lines(green, red, yellow, blue) are the swing leg trajectories (output from Local Footstep planner)? 2. The foothold positions are calculated in the local footstep planner. But are required in the local body planner. So these two modules run multiple times to update their solutions based on the outcome of the other module?
Hi，Really impressive work. I am curious about the NMPC controller, how can it be really efficient with IPOPT solver? Does it apply the VBL-MPC (Representation-free model predictive control for dynamic motions in quadrupeds) proposed by Doctor Ding?
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1. The red line is the CoM trajectory (output from global planner), the green line is the state trajectory and the arrows are the contact force trajectories F(t) (output from local body planner) and the 4 lines(green, red, yellow, blue) are the swing leg trajectories (output from Local Footstep planner)?
2. The foothold positions are calculated in the local footstep planner. But are required in the local body planner. So these two modules run multiple times to update their solutions based on the outcome of the other module?
Hi，Really impressive work. I am curious about the NMPC controller, how can it be really efficient with IPOPT solver? Does it apply the VBL-MPC (Representation-free model predictive control for dynamic motions in quadrupeds) proposed by Doctor Ding?