Quadruped Trotting MPC

Key Insight

Implement a convex Model Predictive Control (MPC) controller to generate stable trotting gaits on a quadruped robot. The controller simplifies the robot's complex legged kinematics into a centroidal dynamics model, tracking the momentum of its center of mass. By solving a quadratic optimization problem at each step, the MPC computes the ground reaction forces for the feet in contact, which are then converted to joint torques via a Whole-Body Control (WBC) loop to maintain dynamic balance.