2022
DOI: 10.1109/lra.2022.3176105
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Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models

Abstract: Template-based reduced-order models have provided a popular methodology for real-time trajectory planning of dynamic quadrupedal locomotion. However, the abstraction and unmodeled dynamics in template models significantly increase the gap between reduced-and full-order models. This letter presents a computationally tractable robust model predictive control (RMPC) formulation, based on convex quadratic programs (QP), to bridge this gap. The RMPC framework considers the single rigid body model subject to a set o… Show more

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Cited by 11 publications
(4 citation statements)
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References 48 publications
(60 reference statements)
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“…Additionally, we optimize both the reduced-order dynamics and the embedding function (a projection operation from the full model to the reduced-order model). This is different from Pandala et al [31] which only optimized for the dynamics, and also different from our prioir work [32] which only optimized for the embedding function. Lastly, we embed the reduced-order model exactly along the full model trajectories during optimization, while Pandala et al [31] approximated the embedding where the embedding error depended on the feedback controller.…”
Section: A Related Workcontrasting
confidence: 86%
See 2 more Smart Citations
“…Additionally, we optimize both the reduced-order dynamics and the embedding function (a projection operation from the full model to the reduced-order model). This is different from Pandala et al [31] which only optimized for the dynamics, and also different from our prioir work [32] which only optimized for the embedding function. Lastly, we embed the reduced-order model exactly along the full model trajectories during optimization, while Pandala et al [31] approximated the embedding where the embedding error depended on the feedback controller.…”
Section: A Related Workcontrasting
confidence: 86%
“…Pandala et al [31] attempted to close the gap between the full model and the reduced-order model, where they modeled the difference between the two models as a disturbance to the reduced dynamics. Our prior work [32] optimized for the Angular Center of Mass model by minimizing the angular momentum error between the reduced-order model and full model.…”
Section: A Related Workmentioning
confidence: 99%
See 1 more Smart Citation
“…Owing to developments in actuators, embedded singleboard computers and perception units, quadrupedal robots have become more versatile in various agile locomotion tasks [1]- [3] including rapid running [4], aggressive jumping [5], [6], fast stepping [7], and other acrobatic maneuvers [7]- [10]. A range of existing quadrupedal platforms [1], [8], [11]- [22] adopt a single rigid body (SRB) design and extend the overall morphological degree-of-freedoms (DoFs) by employing 3-DoF legs.…”
Section: Introductionmentioning
confidence: 99%