Real-time predictive control of a brachiation robot

The present work addresses the problem of real time predictive control of a brachiation robot, considering that the robot is constrained and a multivariable system, which implies a very difficult problem due to the large amount of on-line computation that is required. We show that it is not possible to consider the nonlinear model-based MPC under real-time constraints. Furthermore, to overcome this problem we present a linearized model-based MPC, which is able to be handled under real-time constraints.