Optimization-Based Reference Generator for NMPC

Model Predictive Control (MPC) approaches often rely on heuristic references and careful tuning. This project introduces an optimization-based reference generator that leverages a Linear Inverted Pendulum (LIP) model to calculate reference trajectories for the center of mass automatically.

Key Benefits & Findings:

• Automated Tuning: Eliminates manual heuristic tuning for reference trajectory calculations.
• Improved Disturbance Rejection: Enhances push recovery performance when encountering significant environmental disturbances.
• Validated Performance: Tested extensively through simulations and real hardware experiments on quadruped platforms.