论文标题
使用LTV MPC进行四足球运动的最佳控制
Optimal Control for Quadruped Locomotion using LTV MPC
论文作者
论文摘要
本文介绍了四足球运动的最新最佳控制器。机器人动力学使用单个刚体（SRB）模型表示。通过使用线性化方案提出了线性时变模型预测控制器（LTV MPC）。仿真结果表明，LTV MPC可以执行各种步态，例如小跑和爬网，并且即使在未知的外部干扰下也能够跟踪所需的参考轨迹。 LTV MPC通过Casadi接口以50 Hz的形式实现为二次程序。提出的MPC最高可达到1 m/s的最高速度，加速为0.5 m/s2，执行小跑步态。该实现可在https：// github.com/andrewzheng-11/quad_convexmpc上获得
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:// github.com/AndrewZheng-1011/Quad_ConvexMPC
