欠驱动足式机器人平衡的实时控制约束 DDP
原标题：Real-Time Control-Constrained DDP for Underactuated Balancing of Legged Robots
技术动态AI 88
来源：arXiv cs.RO发布时间待核实
arXiv:2608.18552v2 Announce Type: replace Abstract: This paper presents a real-time control-constrained Differential Dynamic Programming (DDP) framework for underactuated legged robots. To address the limitation of classical DDP in handling control constraints, we propose an Accelerated Projected Gradient (APG)-based control-constrained DDP (ABC-DDP), which efficiently computes constrained solutions and identifies active sets without repeated Karush-Kuhn-Tucker (KKT) inversions.