Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion
Controlling quadruped robots during dynamic motions presents significant challenges due to constraints on ground reaction forces and the inherent complexity of their dynamics. Model predictive control (MPC) has shown promise in addressing these challenges. However, the performance of MPC strongly re...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10418132/ |
| _version_ | 1797319552153944064 |
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| author | Deok Ha Kim Jong Hyeon Park |
| author_facet | Deok Ha Kim Jong Hyeon Park |
| author_sort | Deok Ha Kim |
| collection | DOAJ |
| description | Controlling quadruped robots during dynamic motions presents significant challenges due to constraints on ground reaction forces and the inherent complexity of their dynamics. Model predictive control (MPC) has shown promise in addressing these challenges. However, the performance of MPC strongly relies on the accuracy and complexity of the model, making the modeling process critical for dynamic locomotion control. This paper introduces a novel approach using the reduced single rigid body model (SRBM) and an associated MPC for achieving high-frequency control–crucial for highly dynamic locomotion. The reduced SRBM is derived by isolating the key components responsible for robot balance from the full SRBM, reducing model complexity without compromising control performance. Additionally, the planar kinematics is developed that considers the motions neglected in the reduced model. This enables the design of foot trajectories that facilitate omni-directional motion and yaw control. To validate the proposed method, computer simulations are conducted under various scenarios. The simulations demonstrate that the quadruped robot can achieve galloping speeds of up to 7 m/s while remaining stable even when subjected to a lateral disturbance of 200 N. |
| first_indexed | 2024-03-08T04:08:38Z |
| format | Article |
| id | doaj.art-6d9061bf492847cfb67e9b01f6c1dc48 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-08T04:08:38Z |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-6d9061bf492847cfb67e9b01f6c1dc482024-02-09T00:01:31ZengIEEEIEEE Access2169-35362024-01-0112200032001810.1109/ACCESS.2024.336047910418132Reduced Model Predictive Control Toward Highly Dynamic Quadruped LocomotionDeok Ha Kim0https://orcid.org/0000-0002-2532-1703Jong Hyeon Park1https://orcid.org/0000-0001-6263-375XDepartment of Mechanical Engineering, Hanyang University, Seoul, South KoreaDepartment of Mechanical Engineering, Hanyang University, Seoul, South KoreaControlling quadruped robots during dynamic motions presents significant challenges due to constraints on ground reaction forces and the inherent complexity of their dynamics. Model predictive control (MPC) has shown promise in addressing these challenges. However, the performance of MPC strongly relies on the accuracy and complexity of the model, making the modeling process critical for dynamic locomotion control. This paper introduces a novel approach using the reduced single rigid body model (SRBM) and an associated MPC for achieving high-frequency control–crucial for highly dynamic locomotion. The reduced SRBM is derived by isolating the key components responsible for robot balance from the full SRBM, reducing model complexity without compromising control performance. Additionally, the planar kinematics is developed that considers the motions neglected in the reduced model. This enables the design of foot trajectories that facilitate omni-directional motion and yaw control. To validate the proposed method, computer simulations are conducted under various scenarios. The simulations demonstrate that the quadruped robot can achieve galloping speeds of up to 7 m/s while remaining stable even when subjected to a lateral disturbance of 200 N.https://ieeexplore.ieee.org/document/10418132/Quadruped robotslegged robotsgallopinglegged locomotion controlmodel predictive controlomni-directional motion planning |
| spellingShingle | Deok Ha Kim Jong Hyeon Park Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion IEEE Access Quadruped robots legged robots galloping legged locomotion control model predictive control omni-directional motion planning |
| title | Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion |
| title_full | Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion |
| title_fullStr | Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion |
| title_full_unstemmed | Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion |
| title_short | Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion |
| title_sort | reduced model predictive control toward highly dynamic quadruped locomotion |
| topic | Quadruped robots legged robots galloping legged locomotion control model predictive control omni-directional motion planning |
| url | https://ieeexplore.ieee.org/document/10418132/ |
| work_keys_str_mv | AT deokhakim reducedmodelpredictivecontroltowardhighlydynamicquadrupedlocomotion AT jonghyeonpark reducedmodelpredictivecontroltowardhighlydynamicquadrupedlocomotion |