Download PDFOpen PDF in browserBio-Inspired and Energy-Efficient Convex Model Predictive Control for a Quadruped RobotEasyChair Preprint 85404 pages•Date: July 25, 2022AbstractAnimal running has been studied for a long time, but until now robots cannot repeat the same movements with energy efficiency close to animals. There are many controllers for controlling the movement of four-legged robots. The most popular is the Convex MPC. This paper presents a bioinspirational approach to increasing the energy efficiency of the state-of-theart Convex MPC controller. This approach is to set a reference trajectory for the Convex MPC in the form of a SLIP model. This model describes the movements of animals when running. Adding a SLIP trajectory increases the energy efficiency of the Pronk gait by 15 percent at a speed of 1 m/s. Keyphrases: Bioinspiration, Model Predictive Control, Quadruped, energy efficiency
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