Skip to Main content Skip to Navigation
Conference papers

Comparison of predictive controllers for locomotion and balance recovery of quadruped robots

Abstract : As locomotion decisions must be taken by considering the future, most existing quadruped controllers are based on a model predictive controller (MPC) with a reduced model of the dynamics to generate the motion, followed by a second whole-body controller to follow the movement. Yet the choice of the considered reduction in the MPC is often ad-hoc or decided by intuition. In this article, we focus on particular MPCs and analyze the effect of the reduced models on the robot behavior. Based on existing formulations, we offer additional controllers to better understand the influence of the reductions in the controller capabilities. Finally, we propose a robust predictive controller capable of optimizing the foot placements, gait period, center-of-mass trajectory and corresponding ground reaction forces. The behavior of these controllers is statistically evaluated in simulation. This empirical study is a basis for understanding the relative importance of the components of the optimal control problem (variables, costs, dynamics), that are sometimes arbitrarily emphasized or neglected. We also provide a qualitative study in simulation and on the real robot Solo.
Document type :
Conference papers
Complete list of metadata

https://hal.laas.fr/hal-03034022
Contributor : Pierre-Alexandre Léziart <>
Submitted on : Tuesday, December 1, 2020 - 3:51:14 PM
Last modification on : Thursday, June 10, 2021 - 3:04:01 AM
Long-term archiving on: : Tuesday, March 2, 2021 - 7:50:09 PM

File

icra20_corberes.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-03034022, version 1

Citation

Thomas Corbères, Thomas Flayols, Pierre-Alexandre Léziart, Rohan Budhiraja, Nicolas Mansard. Comparison of predictive controllers for locomotion and balance recovery of quadruped robots. 2021 IEEE International Conference on Robotics and Automation - ICRA, May 2021, Xi'an, China. ⟨hal-03034022⟩

Share

Metrics

Record views

259

Files downloads

503