Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion
Xuanqi Zeng,Hongbo Zhang,Linzhu Yue,Zhitao Song,Lingwei Zhang,Yun-Hui Liu,Xuanqi Zeng,Hongbo Zhang,Linzhu Yue,Zhitao Song,Lingwei Zhang,Yun-Hui Liu
Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and the real robot, which degrades its performance. To address this issue, we propose the controller of integrating a data-driven error model into traditional MPC for quadruped robots. Our approach leverages real-world data fr...
