In order to improve the motion performance of quadruped robots and compensate for the large online com-putational workload of model predictive control,a quadruped robot control method based on explicit model predictive con-trol(EMPC)theory is proposed in this paper.Establish a state space model of a quadruped robot based on dynamics and kinematics theory,and determine the objective function and constraint conditions.Using EMPC theory,obtain explicit control laws to achieve control of quadruped robots.The simulation results show that the proposed EMPC control method reduces online calculation time and achieves foot end force control for quadruped robots.
关键词
四足机器人/显示模型预测控制/多参数二次规划/运动学
Key words
quadruped robot/explicit model predictive control/multi parameter quadratic programming/kinematics analysis
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