Landing Control ofAcrobat RobotbyRHC -Experimental Evaluation -

Inthis paper, anonlinear modelpredictive control (MPC)schemeforconstrained mechanical systems with state discontinuity, orstate jump,isconsidered, andacontrol method whichextends afast numerical algorithm based on continuation andGMRESmethods, allowing online implementation formechanical systems possible, isapplied for. The validity ofthestrategy isdemonstrated byalanding control foranacrobat robot based onacommercially avairable hu- manoid robot, KHR-1,whereageneral purpose compact computer system namedC-CHIPdeveloped atBMC isinstalled inthesystem.