{"ID":23475196,"CreatedAt":"2026-09-18T01:09:05.407443952Z","UpdatedAt":"2026-09-20T18:11:56.143995915Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2609.20035","arxiv_id":"2609.20035","title":"DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion","abstract":"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 equality and affine input constraints into quadratic penalties and retains only nonempty box constraints. The resulting box-constrained quadratic program (QP) has a block-arrow Hessian that enables the state and affine-output directions to be eliminated through a Schur complement. The solver factors only the reduced control system after swing-force elimination and contact-aligned move blocking. For the evaluated implementations using the same DR-MPC formulation, our method achieves median end-to-end MPC speedups of $16.0\\times$ over HPIPM and $4.4\\times$ over OSQP, with comparable locomotion performance in simulation. DR-MPC achieves a median onboard MPC end-to-end time of $4.4$ ms and is validated on a Unitree Go1 quadruped. Open-source code will be made available after publication.","short_abstract":"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...","url_abs":"https://arxiv.org/abs/2609.20035","url_pdf":"https://arxiv.org/pdf/2609.20035v1","authors":"[\"Run Wang\",\"Alapati Tuerxun\",\"Shuo Liu\",\"Wei Xiao\",\"Ján Drgoňa\",\"Yilin Mo\",\"Liang Wu\"]","published":"2026-09-17T10:38:33Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}