@inproceedings{c77a9c0afaa040ec8f7352a434dad12b,
title = "Model Predictive Control of Quadruped Robots in Crawling Gait",
abstract = "This paper designs an implementation of model predictive control (MPC) to make quadruped robots walk on unstructured terrain with crawling gait. A dynamic model of quadruped robot is built by a method based on the ground reaction force with floating base model. Linearization and discretization are used to achieve convexity of the trajectory tracking problem. The topographic map obtained by the vision of the quadruped robot and the expected pose of the robot under the crawling gait are calculated with MPC. Experimental results show control of crawling gait in situations such as climbing slopes and stairs and demonstrate the effectiveness of the control strategy.",
keywords = "Crawling gait, Model predictive control, Quadruped robots, Unstructured terrain",
author = "Shibo Li and Boyang Xing and Xuemei Ren",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 18th Chinese Intelligent Systems Conference, CISC 2022 ; Conference date: 15-10-2022 Through 16-10-2022",
year = "2022",
doi = "10.1007/978-981-19-6203-5_32",
language = "English",
isbn = "9789811962028",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "340--349",
editor = "Yingmin Jia and Weicun Zhang and Yongling Fu and Shoujun Zhao",
booktitle = "Proceedings of 2022 Chinese Intelligent Systems Conference - Volume I",
address = "Germany",
}