Published October 10, 2021
| Version v2
Conference paper
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Towards a Nonlinear Model Predictive Control for Quadrupedal Locomotion on Rough Terrain
Description
In this extended abstract, we give a short intro-
duction to our ongoing work [1] on a real-time Nonlinear
Model Predictive Control (NMPC) tailored to a legged robot
for achieving dynamic locomotion on a wide variety of terrains.
We introduce a mobility-based criterion to define an NMPC
cost that enhances the locomotion of quadruped robots while
maximizing leg mobility and staying far from kinematic limits.
In addition, we include a cost term to regularize Ground
Reaction Forces (GRFs) inside friction cone. We demonstrate
the efficiency of our approach executing an omni-directional
motion on our Hydraulically actuated Quadruped (HyQ) robot
and showing in simulation a walk into a V-shaped chimney.