Research on the control method of quadruped robot based on EMPC

In order to improve the motion performance of quadruped robot and make up for the shortage of large online calculation of model predictive control, a new method based on explicit model predictive control (EM) is proposed theory of four-legged robot control method. The state space model of quadruped robot is established based on dynamics and kinematics theory, and the objective function and constraint conditions are determined. Using EMPC theory, the explicit control law is obtained to realize the control of quadruped robot. The simulation results show that the proposed EMPC control method reduces the on-line calculation time. Finally, the foot force control of quadruped robot is realized.