Unknown Slope-Oriented Research on Model Predictive Control for Quadruped Robot

There are many undulating terrains in the wild environment. In order to realize adaptive and stable walking of quadruped robots on unknown sloped terrain, a slope-adaptability model predictive control (SAMPC) algorithm is proposed this work. absence external vision sensors, orientation inclination slope estimated based joint position sensors inertial measurement units (IMU). an effort increase stability margin, adjusts attitude angle touch-down point swing leg. To reduce slipping risk, nonlinear law designed determine friction factor cone constraint from slope. We validate effectiveness framework through series simulations. The automatic smooth transition flat achieved, robot capable all directions Notably, with reference climbing modal blue sheep, successfully climbed 42.4° slope, proving ultimate ability framework.