首页|A Unified Motion Generation Approach for Quadruped L-S Walk and Trot Gaits Based on Linear Model Predictive Control

A Unified Motion Generation Approach for Quadruped L-S Walk and Trot Gaits Based on Linear Model Predictive Control

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The goal of this paper is to develop a unified online motion generation scheme for quadruped lateral-sequence walk and trot gaits based on a linear model predictive control formulation.Specifically,the dynamics of the linear pendulum model is formulated over a predictive horizon by dimensional analysis.Through gait pattern conversion,the lateral-sequence walk and trot gaits of the quadruped can be regarded as unified biped gaits,allowing the dynamics of the linear inverted pendulum model to serve quadruped motion generation.In addition,a simple linearization of the center of pressure constraints for these quadruped gaits is developed for linear model predictive control problem.Furthermore,the motion generation problem can be solved online by quadratic programming with foothold adaptation.It is demonstrated that the proposed unified scheme can generate stable locomotion online for quadruped lateral-sequence walk and trot gaits,both in simulation and on hardware.The results show significant performance improvements compared to previous work.Moreover,the results also suggest the linearly simplified scheme has the ability to robustness against unexpected disturbances.

Motion generationGait pattern conversionModel predictive controlQuadruped locomotion

Yapeng Shi、Zhicheng He、Xiaokun Leng、Songhao Piao、Lining Sun

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Harbin Institute of Technology,No.92 West Dazhi Street,Harbin 150001,Heilongjiang,China

Yanshan University,No.438 West Hebei Avenue,Qinhuangdao 066004,Hebei,China

国家自然科学基金国家自然科学基金河北省自然科学基金University-Industry Collaborative Education ProgramCultivation Project for Basic Research and Innovation of Yanshan UniversityShenzhen Special Fund for Future Industrial Development

5230507252122503E20222030952206039362457092021LGQN004KJZD20230923114222045

2024

10.1007/s42235-024-00533-3

仿生工程学报(英文版)
吉林大学

仿生工程学报(英文版)

CSTPCDEI
影响因子：0.837
ISSN：1672-6529
年,卷(期)：2024.21(4)