Journal of Bionic Engineering ›› 2024, Vol. 21 ›› Issue (4): 1707-1719.doi: 10.1007/s42235-024-00533-3
A Unified Motion Generation Approach for Quadruped L-S Walk and Trot Gaits Based on Linear Model Predictive Control
Yapeng Shi1,2; Zhicheng He1 ; Xiaokun Leng1 ; Songhao Piao1 ; Lining Sun1
- 1 Harbin Institute of Technology, No. 92 West Dazhi Street, Harbin 150001, Heilongjiang, China 2 Yanshan University, No. 438 West Hebei Avenue, Qinhuangdao 066004, Hebei, China
A Unified Motion Generation Approach for Quadruped L-S Walk and Trot Gaits Based on Linear Model Predictive Control
Yapeng Shi1,2; Zhicheng He1 ; Xiaokun Leng1 ; Songhao Piao1 ; Lining Sun1
- 1 Harbin Institute of Technology, No. 92 West Dazhi Street, Harbin 150001, Heilongjiang, China 2 Yanshan University, No. 438 West Hebei Avenue, Qinhuangdao 066004, Hebei, China
摘要： The goal of this paper is to develop a unifed online motion generation scheme for quadruped lateral-sequence walk and trot gaits based on a linear model predictive control formulation. Specifcally, the dynamics of the linear pendulum model is formulated over a predictive horizon by dimensional analysis. Through gait pattern conversion, the lateral-sequence walk and trot gaits of the quadruped can be regarded as unifed biped gaits, allowing the dynamics of the linear inverted pendulum model to serve quadruped motion generation. In addition, a simple linearization of the center of pressure constraints for these quadruped gaits is developed for linear model predictive control problem. Furthermore, the motion generation problem can be solved online by quadratic programming with foothold adaptation. It is demonstrated that the proposed unifed scheme can generate stable locomotion online for quadruped lateral-sequence walk and trot gaits, both in simulation and on hardware. The results show signifcant performance improvements compared to previous work. Moreover, the results also suggest the linearly simplifed scheme has the ability to robustness against unexpected disturbances.