As a model-based approach, the quadratic-programming controllers need to preview the state jumps due to the impacts.

We published the initial idea in RSS-2019, where we proposed constraint formulation using the predicted state jumps. Then we extend the result to floating-base robot in Humanoids-2019. Recently we summarized the generic impact-aware constraint formulation with through theoretical analysis and experiment results in the IJRR-submission

Impact-aware Task-space Quadratic-programming control