Real-Time Control-Constrained DDP for Underactuated Balancing of Legged Robots
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2608.18552v1 Announce Type: new 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.