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Updates of my quadruped robot’s control algorithm. I've been working toward this during almost four years.
I’m happy to share another video of my quadruped robot climbing stairs! Since my previous post, I have added contact detection and modified the locomotion control algorithm. Previously, the robot used a fairly standard MPC + WBC + vision-based control framework. I have now added a reference generator based on the Linear Inverted Pendulum Model. It generates dynamically consistent body position, velocity, and acceleration trajectories for the MPC and WBC controllers. This modification significantly improved the robot’s stability. It also allowed me to increase the swing duration of each leg, resulting in smoother foot trajectories, softer ground contacts, and quieter locomotion. submitted by /u/yoggi56 [link] [Kommentare] reddit.com · reddit.com
I’m happy to share another video of my quadruped robot climbing stairs! Since my previous post, I have added contact detection and modified the locomotion control algorithm. Previously, the robot used a fairly standard MPC + WBC + vision-based control framework. I have now added a reference generator based on the Linear Inverted Pendulum Model. It generates dynamically consistent body position, velocity, and acceleration trajectories for the MPC and WBC controllers. This modification significantly improved the robot’s stability. It also allowed me to increase the swing duration of each leg, resulting in smoother foot trajectories, softer ground contacts, and quieter locomotion. submitted by /u/yoggi56 [link] [Kommentare]
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