Abstract
This paper is motivated to transfer the model predictive control approach used in bipedal locomotion to formulate gait planning of quadrupedal robots. The particular lateral-sequence gait of quadrupeds is treated as an equivalence to the bipedal walking. The Model Predictive Control (MPC) algorithm uses 3D-Linear Inverted Pendulum Model for representing the center of mass dynamics for planning the quadrupedal gaits, and a dimensionless discretetime state-space formulated is derived for MPC. Subsequently, the footholds can be generated automatically via optimization of quadratic programming (QP) without the need of a separate footstep planner. The generated walking gaits were implemented and validated first in the physics simulation of a quadruped named EHbot, and then the effectiveness of the proposed method was further
demonstrated through our experiments. Both simulation and experimental data are presented and analyzed for evaluating the performance.
demonstrated through our experiments. Both simulation and experimental data are presented and analyzed for evaluating the performance.
Original language | English |
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Title of host publication | 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM) |
Place of Publication | Toyonaka, Japan |
Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
Pages | 87-92 |
Number of pages | 6 |
ISBN (Electronic) | 978-1-7281-0064-7 |
ISBN (Print) | 978-1-7281-0065-4 |
DOIs | |
Publication status | Published - 12 Sep 2019 |
Event | IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) - Osaka, Japan Duration: 3 Jul 2019 → 5 Jul 2019 http://www.ieee-arm.org/ |
Conference
Conference | IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) |
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Abbreviated title | ICARM 2019 |
Country/Territory | Japan |
City | Osaka |
Period | 3/07/19 → 5/07/19 |
Internet address |