Chikun Gong, Jin Yang, and Lipeng Yuan
Impedance control (IPC), model predictive control (MPC),quadruped robots, optimal gait
In this paper, we propose an impedance control (IPC) combined with a model predictive control (MPC) scheme to achieve stable walking and active flexibility for quadruped robots in contact with complex environments. The support phase is controlled by MPC, which uses a simplified single rigid body model to solve the optimal ground reaction force and adjust the body to the desired position in a long time range; the swing phase is controlled by IPC based on dynamics compensation, which ensures the quadruped’s leg flexibility and improves the accuracy of single leg trajectory tracking by reducing the impacts at the end of the foot. And the control errors of the robot’s centre of mass position and centre of mass velocity are quantified by using the root mean square error (RMSE). Secondly, the RMSE is used to quantify the control errors of the robot’s centre of mass position and centre of mass velocity and select the optimal gait. Finally, MATLAB/SimScape is used to simulate the results, which show that the quadruped robot has good robustness and flexibility when walking in a trot gait in complex environments under this control strategy.
Important Links:
Go Back
