Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion
نویسندگان
چکیده
In this letter, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR projected inverse control for robust motion tracking. our proposed planning framework, plans are updated at 400 Hz considering current robot state an controller generates optimal feedback gains The gain matrix with non-zero off-diagonal elements leverages coupling dynamics compensate system underactuation. Meanwhile, complements satisfy inequality constraints. addition these contributions, show framework unmodeled adaptive feet. Experiments on quadruped ANYmal demonstrate effectiveness method given external disturbances environmental uncertainties.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2021
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2021.3068695