TY - GEN
T1 - MPC-based Tilting and Forward Motion Control of Quadruped Robots
AU - Du, Yongzhe
AU - Gao, Shunli
AU - Li, Huiping
AU - Cui, Di
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In many practical implementations, a quadruped robot needs to safely pass long and narrow space. This paper investigates the tilting and forward motion control problem for a quadruped robot to pass narrow space. We develop a model predictive control (MPC)-based control method for the tilting and forward motion control. In particular, we firstly establish a quadruped robot floating centrifugal motion model, based on which we design objective functions and constraints in MPC to generate command forces for robots' feet. In addition, we design the gaits and reference trajectory of the roll angle to achieve tilting switching and forward movement. The effectiveness of the designed MPC algorithm is verified via the simulation platform and hardware experiments. Finally, we discover the feasible range of roll angle maintaining stable tilting and forward movement via simulation experiments.
AB - In many practical implementations, a quadruped robot needs to safely pass long and narrow space. This paper investigates the tilting and forward motion control problem for a quadruped robot to pass narrow space. We develop a model predictive control (MPC)-based control method for the tilting and forward motion control. In particular, we firstly establish a quadruped robot floating centrifugal motion model, based on which we design objective functions and constraints in MPC to generate command forces for robots' feet. In addition, we design the gaits and reference trajectory of the roll angle to achieve tilting switching and forward movement. The effectiveness of the designed MPC algorithm is verified via the simulation platform and hardware experiments. Finally, we discover the feasible range of roll angle maintaining stable tilting and forward movement via simulation experiments.
KW - model predictive control
KW - quadruped robots
KW - tilting and forward movement
UR - https://www.scopus.com/pages/publications/85129539201
U2 - 10.1109/ISAS55863.2022.9757288
DO - 10.1109/ISAS55863.2022.9757288
M3 - 会议稿件
AN - SCOPUS:85129539201
T3 - 2022 5th International Symposium on Autonomous Systems, ISAS 2022
BT - 2022 5th International Symposium on Autonomous Systems, ISAS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Symposium on Autonomous Systems, ISAS 2022
Y2 - 8 April 2022 through 10 April 2022
ER -