An algorithm of foot end trajectory tracking control for quadruped robot based on model predictive control

摘要

The control of the leg mechanism of the quadruped robot has always been one of the research hotspots in the field of robotics. This paper proposes to use the model predictive control method (MPC) to control the foot track tracking of the quadruped robot. Using the Newton-Euler formula to model the dynamics of the leg mechanical structure and obtaining its discrete linear state space model. According to the performance indicators and constraints given by the system, the actual output is feedback corrected to achieve real-time tracking of the required joint rotation angle trajectory.