Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots
This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The interconnected robot-payload system is modeled as a discrete-time nonlinear differential-algebraic system, capturing the coupled dynamics through holonomic constraints and interaction wrenches.
Evidence notes
- Experiments use Go2 as the physical evaluation platform.
- The reported results provide an independent evaluation on Go2 hardware.
Company context
Develops quadruped and humanoid robots, with strength in dynamic locomotion, vertically integrated hardware, and relatively low-cost commercial deployment. Unitree is one of the clearest examples of a legged robotics company moving from research visibility into real productisation and broader market distribution.