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Bio-inspired and Energy-efficient Convex Model Predictive Control for a Quadruped Robot

Bio-inspired and Energy-efficient Convex Model
Predictive Control for a Quadruped Robot

Animal 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.

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Authors:


Aleksei Shamraev (Faculty of Control Systems and Robotics ITMO University, adshamraev@itmo.ru)


Sergey Kolyubin (Faculty of Control Systems and Robotics ITMO University, s.kolyubin@itmo.ru)

in Proceedings of the Third International Conference Nonlinearity,Information and Robotics 2022, August 24, 2022