Comparison of predictive controllers for locomotion and balance recovery of quadruped robots
Thomas Corbères Thomas Flayols Pierre-Alexandre Léziart Rohan Budhiraja Philippe Souères Guilhem Saurel Nicolas Mansard Thomas Corbères Thomas Flayols Pierre-Alexandre Léziart Rohan Budhiraja Philippe Souères Guilhem Saurel Nicolas Mansard
As locomotion decisions must be taken by considering the future, most existing quadruped controllers are based on a model predictive controller (MPC) with a reduced model of the dynamics to generate the motion and a whole- body controller to execute it. Yet the simplifying assumptions of the MPC are often chosen ad-hoc or by intuition. In this article, we focus on a set of MPCs and analyze the eff...