Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and ModelPredictive Control
Source: Dev.to
Overview
Fast, agile quadruped robots are becoming increasingly capable, achieving higher speeds and more reliable foot placement. A new control method enables a small robot to plan pushes ahead of time and then use its whole body to execute those pushes, allowing it to handle brief aerial phases and rapid leg swings without losing balance.
Method
The approach combines a short‑horizon plan of contact forces with a fast whole‑body controller that translates those force plans into joint motions. By focusing on the pushing forces rather than merely tracking a desired body trajectory, the robot can maintain balance while performing bold, dynamic maneuvers, even when its feet leave the ground momentarily.
Results
- Tested on the Mini‑Cheetah platform.
- Achieved a top speed of 3.7 m/s on both treadmill and outdoor experiments.
- Demonstrated robust performance across multiple gaits, varying terrain, and minor disturbances (e.g., slips).
Implications
This control strategy enables quadruped robots to:
- Jump over obstacles.
- Sprint across uneven ground.
- Recover quickly from slips or unexpected perturbations.
By planning ahead and coordinating whole‑body actions, robots can execute dynamic running with aerial phases more reliably.
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Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and ModelPredictive Control