Research on Model Predictive Control of Quadruped Robot Based on Improved Single Rigid Body Dynamics Model

被引：0

作者：

Chen, Dayu ^{[1
]}

Zhang, Jie ^{[1
]}

Lv, Ming ^{[1
]}

Chen, Yaowei ^{[1
]}

机构：

[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing, Peoples R China

来源：

PROCEEDINGS OF THE 36TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC 2024 | 2024年

关键词：

quadruped robot; model predictive control(MPC); motion control; CHEETAH; GAITS;

D O I：

10.1109/CCDC62350.2024.10588014

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The dynamic model of a rigid body is widely utilized to depict the overall motion characteristics of robots, particularly in the realm of motion control for quadruped robots. However, conventional approaches tend to oversimplify the angular motion equations of the single rigid body dynamic model, resulting in inadequate performance in terms of angular motion direction for the robot. This paper proposes an improved method for the dynamic modeling of a quadruped robot based on a single rigid body model. By preserving more linear terms in the angular motion direction compared to the simplified approach, a motion controller is designed for the quadruped robot. The controller consists of a model predictive controller based on the improved single rigid body dynamic model and a whole-body controller. Experimental results demonstrate that this motion controller exhibits excellent performance in tracking the angular motion direction of the quadruped robot.

引用

页码：4294 / 4299

页数：6

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