5 accepted papers
Template-based reduced-order models have provided a popular methodology for real-time trajectory planning of dynamic quadrupedal locomotion. However, the abstraction and unmodeled dynamics in template models significantly increase the gap between reduced- and full-order models. This letter presents
Although legged robots are becoming more nonlinear with higher degrees of freedom (DOFs), the centralized nonlinear control methods required to achieve stable locomotion cannot scale with the dimensionality of these robots. This paper investigates time-varying decentralized feedback control architec…
This paper aims to develop time-varying virtual constraint controllers that allow stable and agile bounding gaits for full-order hybrid dynamical models of quadrupedal locomotion. As opposed to state-based nonlinear controllers, time-varying controllers can initiate locomotion from zero velocity. Mo…
This letter aims to develop a hierarchical nonlinear control algorithm, based on model predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate and stabilize locomotion patterns in a real-time manner for dynamical models of quadrupedal robots. The higher level of th
This paper presents a new Model Predictive Control (MPC) framework for controlling various dynamic movements of a quadrupedal robot. System dynamics are represented by linearizing single rigid body dynamics in three-dimensional (3D) space. Our formulation linearizes rotation matrices without resorti…