Purpose

The computing power of the legged robot is not enough to perform high-frequency updates for the full-body model predictive control (MPC) of the robot, which is a common problem encountered in the gait research of the legged robot. The purpose of this paper is to propose a high-frequency MPC control method for the bounding gait of a parallel quadruped robot.

Design/methodology/approach

According to the bounding gait characteristics of the robot, the quadruped robot model is simplified to an equivalent plane bipedal model. Under the biped robot model, the forces between the robot’s feet and the ground are calculated by MPC. Then, the authors apply a proportional differential controller to distribute these forces to the four feet of the quadruped robot. The robot video can be seen at www.bilibili.com/video/BV1je4y1S7Rn.

Findings

To verify the feasibility of the controller, a prototype was made, and the controller was deployed on the actual prototype and then fully analyzed through experiments. Experiments show that the update frequency of MPC could be stabilized at 500 Hz while the robot was running in the bounding gait stably and efficiently.

Originality/value

This paper proposes a high-frequency MPC controller under the simplified model, which has a higher working efficiency and more stable control performance.

中文翻译：

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并联四足机器人的弹跳步态控制

目的

腿式机器人的计算能力不足以对机器人的全身模型预测控制（MPC）进行高频更新，这是腿式机器人步态研究中遇到的常见问题。本文的目的是提出一种并联四足机器人弹跳步态的高频 MPC 控制方法。

设计/方法论/途径

根据机器人的跳跃步态特征，将四足机器人模型简化为等效平面双足模型。在双足机器人模型下，通过MPC计算机器人脚与地面之间的力。然后，作者应用比例微分控制器将这些力分配到四足机器人的四个脚上。机器人视频可以在 www.bilibili.com/video/BV1je4y1S7Rn 上观看。

发现

为了验证控制器的可行性，制作了样机，并将控制器部署在实际样机上，然后通过实验进行充分分析。实验表明，在机器人稳定高效地运行弹跳步态时，MPC的更新频率可以稳定在500 Hz。

原创性/价值

本文提出了一种简化模型下的高频MPC控制器，具有更高的工作效率和更稳定的控制性能。