Extended Capture Point and Optimization-based Control for Quadrupedal Robot Walking on Dynamic Rigid Surfaces

Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., that moves in the inertial frame) is complex planning and control problem. The complexity arises due to hybrid nonlinear walking dynamics subject explicitly time-varying holonomic constraints caused by movement. first main contribution of this study extension capture point from static DRS as well use resulting for online motion planning. second quadratic-programming (QP) based feedback controller design considers stability robustness proposed approach are validated through simulations quadrupedal with rocking motion. simulation results also demonstrate improved performance compared our previous offline input-output linearizing does not guarantee feasibility ground contact constraints.