MPC for wheeled balancing of Upkie wheeled bipeds

[stephane-caron]

Problem

I propose to add MPC problems generated by the MPC balancer for Upkie wheeled bipeds. These problems are already implemented in Python and imported from the wheeled_inverted_pendulum.py example of qpmpc.

Context

These problems arose from model predictive control of Upkie wheeled bipeds, one of the experiments on a real robot carried out to validate the performance of the ProxQP solver.

References

1. PROXQP: an Efficient and Versatile Quadratic Programming Solver for Real-Time Robotics Applications and Beyond, Bambade et al., 2023.