A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots With Non-Negligible Manipulator Dynamics

Model predictive control (MPC) with reduced-order template models has proven effective for dynamic legged locomotion, but loco-manipulation introduces additional complexity requiring efficient algorithms for high-degree-of-freedom (DoF) systems. This letter presents a computationally efficient nonlinear MPC (NMPC) framework tailored for loco-manipulation tasks of quadrupedal robots equipped with robotic manipulators whose dynamics are non-negligible relative to those of the quadruped. The proposed framework adopts a decomposition strategy that couples locomotion template models—such as the single rigid body model—with a full-order dynamic model of the robotic manipulator for torque-level control. This decomposition enables efficient real-time solution of the NMPC problem in a receding horizon fashion. The optimal state and input trajectories generated by the NMPC for locomotion are tracked by a low-level nonlinear whole-body controller, while the optimal torque commands for the manipulator are directly applied. The layered control architecture is validated through extensive numerical simulations and hardware experiments on a 15-kg Go2 quadrupedal robot augmented with a 4.4-kg 4-DoF Kinova arm. Given that the Kinova arm dynamics are non-negligible relative to the Go2 base, the proposed NMPC framework demonstrates robust stability in performing diverse loco-manipulation tasks, effectively handling external disturbances, payload variations, and uneven terrain.