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Model Predictive Impedance Control and Gait Optimization for High-Speed Quadrupedal Running

Controlling legged robots to run at high speeds or to traverse complex terrains remains challenging due to the difficulty of handling the interaction between the robot and the ground. Impedance control and model predictive control are widely used to account for ground reaction forces (GRFs) during d...

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Principais autores: Deok Ha Kim, Jaeuk Cho, Jong Hyeon Park
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2025-08-01
Serier:Applied Sciences
Fag:
quadruped robots
model predictive impedance control
gait optimization
legged locomotion
model predictive control
impedance control
Online adgang:https://www.mdpi.com/2076-3417/15/16/8861
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