This repository contains a simple simulation program for controlling a quadruped robot using Convex MPC.

Reference

[1] Di Carlo, Jared, et al. "Dynamic locomotion in the mit cheetah 3 through convex model-predictive control." 2018 IEEE/RSJ international conference on intelligent robots and systems (IROS). IEEE, 2018.

[2] https://github.com/YanranDing/RF-MPC