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3D Hopping Robot with MPC

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Here is a 3D hoping robot that can achieve dynamically stable motions with a “hybrid nonlinear model predictive control, paired with a low-level feedback controller in a multi-rate hierarchy. This video from Noel Csomay-Shanklin, Aaron D Ames, and Victor D Dorobantu shows this robot in action.

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ICRA 2023 Hopping Robot with MPC


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