A Linearization of Centroidal Dynamics for the Model-Predictive Control of Quadruped Robots
Wanchao Chi,Xinyang Jiang,Yu Zheng,Wanchao Chi,Xinyang Jiang,Yu Zheng
Centroidal dynamics, which describes the overall linear and angular motion of a robot, is often used in locomotion generation and control of legged robots. However, the equation of centroidal dynamics contains nonlinear terms mainly caused by the robot's angular motion and needs to be linearized for deriving a linear model-predictive motion controller. This paper proposes a new linearization of th...
