Nonlinear MPC on Unitree A1: Trot, Flying trot and Pronk

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Model predictive controller based on a nonlinear inverted pendulum model.

Note. Whole-body control implementation is based on Kim et al., Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control, 2019.
  1. Dongho Kang
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