Optimization of Locomotion Planning for Quadruped Robot Adapted with Terrain

Abstract

To ensure stable walking of a quadruped robot in complex terrains, it is necessary to generate command trajectories adapted with the terrain. This paper proposes a general control technique that allows stable walking in various terrains by adapting the robot’s center of mass (CoM) pitch to the slope of the terrain and imposing constraints on the model predictive control (MPC) to ensure foot placement in safe positions.