... of dimensionality from many DOFs. Toward endowing robotic platforms with the ability to traverse over ground like their biological counterparts, current approaches often cast the robotic locomotion problem as a trajectory optimization (TO) problem and solve for the optimal control tape. The resulting control inputs...

... the potential to reduce experimentation time when designing and evaluating candidate controllers in practice. Future work on this topic will involve testing the proposed disturbance modeling method in conjunction with optimal control synthesis methods to enforce saturation avoidance at the controller design...

... to formulate the equivalent convex optimal control problem. We then develop a hierarchical control framework with sampling-based high-level control and fast MPC-based low-level control. Simulation results show the efficacy of the proposed approach both in terms of computation time and fuel efficiency. One...