[2212.05154] Optimal Control for Quadruped Locomotion using LTV MPC
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Computer Science > Robotics

arXiv:2212.05154 (cs)
[Submitted on 10 Dec 2022 (v1), last revised 16 Oct 2023 (this version, v3)]

Title:Optimal Control for Quadruped Locomotion using LTV MPC

Authors:Andrew Zheng, Sriram S.K.S Narayanan
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Abstract:This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying model predictive controller (LTV MPC) is proposed by using linearization schemes. Simulation results show that the LTV MPC can execute various gaits, such as trot and crawl, and is capable of tracking desired reference trajectories even under unknown external disturbances. The LTV MPC is implemented as a quadratic program using qpOASES through the CasADi interface at 50 Hz. The proposed MPC can reach up to 1 m/s top speed with an acceleration of 0.5 m/s2 executing a trot gait. The implementation is available at https:// this http URL
Subjects: Robotics (cs.RO)
Cite as: arXiv:2212.05154 [cs.RO]
  (or arXiv:2212.05154v3 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2212.05154

Submission history

From: Sriram S.K.S. Narayanan [view email]
[v1] Sat, 10 Dec 2022 00:21:56 UTC (8,721 KB)
[v2] Tue, 20 Dec 2022 22:23:33 UTC (8,721 KB)
[v3] Mon, 16 Oct 2023 14:29:56 UTC (4,584 KB)
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