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二、 OCS2 最优控制模块. 1. OCS2 接口： MPC Interface ： 设计MPC求解器接口. MRT (Model Reference Tracking) Interface：模型参考轨迹及状态接口. 2.建立求解器. 根据最优理论的成分建立： 成本函数 cost， 软约束 soft constraints， 硬约束 (hard) constraints， 动力学模型 dynamics和 预计算 pre-computation。 一般情况下，成本函数+软/硬约束在三个部分定义： 1）离散的中间点intermediate. 2）切换时间prejump time. 3）末端时间final time.

OCS2腿式机器人模型 Legged Robot 的范例为四足机器人 Anymal，每条分支典型哺乳类三自由度设计。 整体为两个源码包： ocs2_robotics_examples/ocs2_legged_robot :最优化问题构建. ocs2_robotics_examples/ocs2_legged_robot_ros：ROS的有关接口. 参考文献： A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation. Perceptive Locomotion Through Nonlinear Model-Predictive Control.

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2024年11月18日 · 内容涵盖从选择合适的模型开始，到最优控制公式，再到设置MPC循环，包括MPC接口和MRT接口的详细说明，以及如何在ROS环境中应用。

2021年8月13日 · OCS2 是一个 MPC 实时求解器 (SLQ/iLQR)，依赖 Pinocchio 构建机器人动力学模型，采用 RViz 或者 RaiSim 验证 (Rollout)。 MpcRosInterface + MrtRosInterface. {MPC node} -> {MRT Dummy simulator Rollout w/ Visualization} Code Structure. Visulization. ROS Graph.

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2022年3月29日 · As far as I know from your published work ocs2 has shown to be efficient for a system including Anymal C + 4 DoF arm + manipulated object dynamics (real-time MPC found in https://arxiv.org/pdf/2103.00946.pdf), but this is still quite far from the Centauro case.

OCS2 is a C++ toolbox tailored for O ptimal C ontrol for S witched S ystems (OCS2). The toolbox provides an efficient implementation of the following algorithms: OCS2 handles general path constraints through Augmented Lagrangian or relaxed barrier methods.