A Unified Motion Generation Approach for Quadruped L-S Walk and Trot Gaits Based on Linear Model Predictive Control-Reference-Cited by-同舟云学术

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A Unified Motion Generation Approach for Quadruped L-S Walk and Trot Gaits Based on Linear Model Predictive Control

Published:2024-05-14 Issue:4 Volume:21 Page:1707-1719
ISSN:1672-6529
Container-title:Journal of Bionic Engineering
language:en
Short-container-title:J Bionic Eng

Author:

Shi Yapeng,He Zhicheng,Leng Xiaokun,Piao Songhao,Sun Lining

Funder

National Natural Science Foundation of China

Natural Science Foundation of Hebei Province

Cultivation Project for Basic Research and Innovation of Yanshan University

University-Industry Collaborative Education Program

Shenzhen Special Fund for Future Industrial Development

Publisher

Springer Science and Business Media LLC

Link

https://link.springer.com/content/pdf/10.1007/s42235-024-00533-3.pdf

Reference27 articles.

1. Li, J., Gao, H. B., Wan, Y. H., Yu, H. T., & Zhou, C. X. (2023). A real-time planning and control framework for robust and dynamic quadrupedal locomotion. Journal of Bionic Engineering, 20, 1449–1466.

2. Tranzatto, M., Miki, T., Dharmadhikari, M., Bernreiter, L., Kulkarni, M., Mascarich, F., Andersson, O., Khattak, S., Hutter, M., Siegwart, R., & Alexis, K. (2022). Cerberus in the darpa subterranean challenge. Science Robotics, 7(66), eabp9742.

3. Lu, G., Chen, T., Rong, X., Zhang, G., Bi, J., Cao, J., Jiang, H., & Li, Y. (2023). Whole-body motion planning and control of a quadruped robot for challenging terrain. Journal of Field Robotics, 40(6), 1657–1677.

4. Carpentier, J., & Wieber, P. B. (2021). Recent progress in legged robots locomotion control. Current Robotics Reports, 2(3), 231–238.

5. Yu, H. T., Gao, H. B., & Deng, Z. Q. (2020). Toward a unified approximate analytical representation for spatially running spring-loaded inverted pendulum model. IEEE Transactions on Robotics, 37(2), 691–698.

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