Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds

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dc.contributor.authorDing, Yanranko
dc.contributor.authorPandala, Abhishekko
dc.contributor.authorLi, Chuanzhengko
dc.contributor.authorShin, Young-Hako
dc.contributor.authorPark, Hae-Wonko
dc.date.accessioned2021-08-17T04:50:07Z-
dc.date.available2021-08-17T04:50:07Z-
dc.date.created2020-12-15-
dc.date.created2020-12-15-
dc.date.created2020-12-15-
dc.date.issued2021-08-
dc.identifier.citationIEEE TRANSACTIONS ON ROBOTICS, v.37, no.4, pp.1154 - 1171-
dc.identifier.issn1552-3098-
dc.identifier.urihttp://hdl.handle.net/10203/287169-
dc.description.abstractThis 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-
dc.languageEnglish-
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC-
dc.titleRepresentation-Free Model Predictive Control for Dynamic Motions in Quadrupeds-
dc.typeArticle-
dc.identifier.wosid000682134200010-
dc.identifier.scopusid2-s2.0-85099577142-
dc.type.rimsART-
dc.citation.volume37-
dc.citation.issue4-
dc.citation.beginningpage1154-
dc.citation.endingpage1171-
dc.citation.publicationnameIEEE TRANSACTIONS ON ROBOTICS-
dc.identifier.doi10.1109/TRO.2020.3046415-
dc.embargo.liftdate2021-10-25-
dc.embargo.terms2021-10-25-
dc.contributor.localauthorPark, Hae-Won-
dc.contributor.nonIdAuthorDing, Yanran-
dc.contributor.nonIdAuthorPandala, Abhishek-
dc.contributor.nonIdAuthorLi, Chuanzheng-
dc.description.isOpenAccessY-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorDynamics-
dc.subject.keywordAuthorlegged robots-
dc.subject.keywordAuthormodel predictive control-
dc.subject.keywordAuthorMPC-
dc.subject.keywordAuthorunderactuated robots-
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