Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds

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This article presents a novel representation-free model predictive control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three-dimensional (3-D) space. Our formulation directly represents the rotational dynamics using the rotation matrix, which liberates us from the issues associated with the use of Euler angles and quaternion as the orientation representations. With a variation-based linearization scheme and a carefully constructed cost function, the MPC control law is transcribed to the standard quadratic program form. The MPC controller can operate at real-time rates of 250 Hz on a quadruped robot. Experimental results including periodic quadrupedal gaits and a controlled backflip validate that our control strategy could stabilize dynamic motions that involve singularity in 3-D maneuvers. IEEE
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2021-08
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON ROBOTICS, v.37, no.4, pp.1154 - 1171

ISSN
1552-3098
DOI
10.1109/TRO.2020.3046415
URI
http://hdl.handle.net/10203/287169
Appears in Collection
ME-Journal Papers(저널논문)
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