摘要
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.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | Proceedings of 2022 Chinese Intelligent Systems Conference - Volume I |
| 编辑 | Yingmin Jia, Weicun Zhang, Yongling Fu, Shoujun Zhao |
| 出版商 | Springer Science and Business Media Deutschland GmbH |
| 页 | 340-349 |
| 页数 | 10 |
| ISBN（印刷版） | 9789811962028 |
| DOI | |
| 出版状态 | 已出版 - 2022 |
| 活动 | 18th Chinese Intelligent Systems Conference, CISC 2022 - Beijing, 中国 期限: 15 10月 2022 → 16 10月 2022 |
出版系列
| 姓名 | Lecture Notes in Electrical Engineering |
|---|---|
| 卷 | 950 LNEE |
| ISSN（印刷版） | 1876-1100 |
| ISSN（电子版） | 1876-1119 |
会议
| 会议 | 18th Chinese Intelligent Systems Conference, CISC 2022 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Beijing |
| 时期 | 15/10/22 → 16/10/22 |
指纹
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Li, S., Xing, B., & Ren, X. (2022). Model Predictive Control of Quadruped Robots in Crawling Gait. 在 Y. Jia, W. Zhang, Y. Fu, & S. Zhao (编辑), Proceedings of 2022 Chinese Intelligent Systems Conference - Volume I (页码 340-349). (Lecture Notes in Electrical Engineering; 卷 950 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-6203-5_32