Whole Body Control of Quadruped Robot Based on NMPC
The research on motion control of quadruped robot is of great significance to promote the development of robot technology.This paper proposes a quadruped robot motion control algorithm based on Nonlinear model predictive control(NMPC)and Whole body control(WBC).In order to improve the computational efficiency,it assumes the body of the quadruped robot as a single rigid body model(SRBD).In order to make the motion control of the quadruped robot more stable and accurate,this paper uses a real-time iterative scheme,which lets NMPC carry out online planning at the frequency of 25 Hz,and WBC control the motion state of the robot in real time at the frequency of 500 Hz.Through the omnidirectional walking of the robot in the simulation environment,the effectiveness and superiority of the motion control al-gorithm of the quadruped robot combined with NMPC and WBC are verified.
legged robotnonlinear model predictive controlwhole body control
万方数据
维普
