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Author

Run Wang

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Preprint Sep 2026

DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion

This paper presents dynamics-relaxed model predictive control (DR-MPC), a novel MPC formulation for legged locomotion, and a tailored interior-point method (IPM) solver. The formulation combines online optimization feasibility by construction with a contact-aware input parameterization. DR-MPC moves the dynamics equali...

Run Wang, Alapati Tuerxun, Shuo Liu et al. · 0 citations
Preprint Sep 2026

Proprioceptive Force Estimation for Quadruped Locomotion and Human-Robot Interaction

Payload forces must be accommodated during locomotion, while leash forces can specify desired motion. We investigate whether a shared three-dimensional force estimate in newtons, inferred from proprioceptive history under sustained loading, can support both tasks. An estimator and locomotion policy are jointly trained...

Run Wang, Xu Yang, Alapati Tuerxun et al. · 0 citations

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