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Push Recovery Control Based on Model Predictive Control of Hydraulic Quadruped Robots

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Abstract

This work is aimed at addressing the balance problem of hydraulic quadruped robots, trotting on even terrain, which is impacted by lateral disturbance. The ability of push recovery means that a robot can restore stability when the roll angle of the body is too large after a strong side impact. To maintain the balance of the impacted robot, three strategies are proposed inspired by the human response to external disturbance, including supporting leg adjustment strategy, one-step motion of swinging legs strategy, and N-step motion of swinging legs strategy. Quadruped robots can be considered as humanoids owing to the nature of their trotting gait. Thus, the contributions of this artile are as follows. A simplified dynamic model of a quadruped robot is established based on linear inverted pendulum (LIP), and the idea of capture point (CP) and zero moment point (ZMP). A push recovery control system based on model predictive controller (MPC) is established according to the requirement of the control strategy. Finally, the effectiveness of the push recovery control system is verified by simulation and experiment.

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Data Availability

No datasets were generated or analyzed during the current study.

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Funding

The authors declare that no funds, grants, or other support were received during the preparation of this manuscript.

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Authors and Affiliations

  1. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China

    Qingjun Yang, Congfei Li, Yulong Li, Dianxin Wang & Xuan Wang

  2. Nanjing Chenguang Group Co. Ltd, Nanjing, China

    Rui Zhu

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  1. Qingjun Yang
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  2. Congfei Li
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  3. Rui Zhu
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  4. Yulong Li
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  5. Dianxin Wang
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  6. Xuan Wang
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by Qingjun Yang, Congfei Li and Rui Zhu. The first draft of the manuscript was written by Congfei Li, Yulong Li, Dianxin Wang and Xuan Wang, and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Congfei Li.

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This is an observational study. The XYZ Research Ethics Committee has confirmed that no ethical approval is required.

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Yang, Q., Li, C., Zhu, R. et al. Push Recovery Control Based on Model Predictive Control of Hydraulic Quadruped Robots. J Intell Robot Syst 109, 41 (2023). https://doi.org/10.1007/s10846-023-01972-6

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