Research and Application of EMPC-based Control Method for Quadruped Robot
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.
quadruped robotexplicit model predictive controlmulti parameter quadratic programmingkinematics analysis
万方数据
维普
