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

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

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

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