Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the terrain and rejecting external disturbances. In this work. we propose and test in experiments a real-time Nonlinear Model Predictive Control (NMPC) tailored to a legged robot for achieving dynamic locomotion on a variety of terrains. We introduce a mobility-based criterion to define an... https://herbsdailyes.shop/product-category/soups/