Balance control of quadruped robot based on model predictive control

Abstract

Aiming at the steady motion of the quadruped robot during support period of the locomotion, it is necessary to plan the ground reaction force (GRF) of legs. For the control of the plane height of the robot body, we take the standing balance of the simply modelled quadruped robot as the research object, and use the model predictive control algorithm to plan quadruped robot's GRF of its position and attitude control, and then map the force to the operating space through the Jacobian matrix of the joint space to obtain the torque of the joint space. This paper uses MATLAB and RecurDyn for the co-simulation, and obtains good control results from it. At the end, we analyze the feasibility and rationality of its algorithm application by comparing it with the traditional balance controller. The work above provides the basis for the control and design of the subsequent quadruped robot motion planning.