Dynamic Locomotion of a Quadruped Robot with Active Spine via Model Predictive Control
Wanyue Li,Zida Zhou,Hui Cheng,Wanyue Li,Zida Zhou,Hui Cheng
As an active spine introduces more degree of freedoms (DOFs) as well as time-varying inertia, locomotion control of spined quadruped robots is challenging. Direct optimization on the full dynamics model causes prohibitive calculation time and is difficult to apply to embedded platforms. Model predictive control (MPC)-based on SRB dynamics is a prevalent approach for ordinary quadruped robots, rega...
