Preprint
Sep 2026
ElastiQP: An Always-Feasible QP Solver for Constrained Robot Control
As robot capabilities increase, quadratic programming (QP)-based controllers must account for a similarly increasing number of constraints to ensure safe, reliable operation. Yet, with each added constraint, this introduces more chances of momentary conflict: in which case, a QP solver that returns an"infeasible"status...
Daniel Morton, Jon Arrizabalaga, Zachary Manchester et al.
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