Model Predictive control for Quadruped

About

This project was done as my course project at UPenn for MEAM 5170: Controls and Optimization with application in AI and Robotics.

This was my first attempt at implementing MPC from scrach using Drake simulation software.
I had a hard time tuning and making it work, wasn't able to make it walk. Still, below are some decent screenshots of the working controller for basic standing with different poses.

• Standing on three legs.
  

References:

• Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control
• https://github.com/vincekurtz/quadruped_drake/
• https://github.com/yinghansun/pympc-quadruped/