Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control
Name
convex_mpc_2fix.pdf
Description
Accepted version
Size
4.63 MB
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Unknown
Checksum (MD5)
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Author(s)
Carlo, Jared Di
Wensing, Patrick M.
Katz, Benjamin
Bledt, Gerardo
Kim, Sangbae
Date Issued
January 2019
Journal
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Carlo, Jared Di, Wensing, Patrick M., Katz, Benjamin, Bledt, Gerardo and Kim, Sangbae. 2018. "Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control." IEEE International Conference on Intelligent Robots and Systems.
Version
Author's final manuscript
Abstract
© 2018 IEEE. This paper presents an implementation of model predictive control (MPC) to determine ground reaction forces for a torque-controlled quadruped robot. The robot dynamics are simplified to formulate the problem as convex optimization while still capturing the full 3D nature of the system. With the simplified model, ground reaction force planning problems are formulated for prediction horizons of up to 0.5 seconds, and are solved to optimality in under 1 ms at a rate of 20-30 Hz. Despite using a simplified model, the robot is capable of robust locomotion at a variety of speeds. Experimental results demonstrate control of gaits including stand, trot, flying-trot, pronk, bound, pace, a 3-legged gait, and a full 3D gallop. The robot achieved forward speeds of up to 3 m/s, lateral speeds up to 1 m/s, and angular speeds up to 180 deg/sec. Our approach is general enough to perform all these behaviors with the same set of gains and weights.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2018.8594448
