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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2504.20301 |
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| _version_ | 1866918003934756864 |
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| author | Ye, Keran Karydis, Konstantinos |
| author_facet | Ye, Keran Karydis, Konstantinos |
| contents | The paper presents a method to stabilize dynamic gait for a legged robot with embodied compliance. Our approach introduces a unified description for rigid and compliant bodies to approximate their deformation and a formulation for deformable multibody systems. We develop the centroidal composite predictive deformed inertia (CCPDI) tensor of a deformable multibody system and show how to integrate it with the standard-of-practice model predictive controller (MPC). Simulation shows that the resultant control framework can stabilize trot stepping on a quadrupedal robot with both rigid and compliant spines under the same MPC configurations. Compared to standard MPC, the developed CCPDI-enabled MPC distributes the ground reactive forces closer to the heuristics for body balance, and it is thus more likely to stabilize the gaits of the compliant robot. A parametric study shows that our method preserves some level of robustness within a suitable envelope of key parameter values. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_20301 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance Ye, Keran Karydis, Konstantinos Robotics The paper presents a method to stabilize dynamic gait for a legged robot with embodied compliance. Our approach introduces a unified description for rigid and compliant bodies to approximate their deformation and a formulation for deformable multibody systems. We develop the centroidal composite predictive deformed inertia (CCPDI) tensor of a deformable multibody system and show how to integrate it with the standard-of-practice model predictive controller (MPC). Simulation shows that the resultant control framework can stabilize trot stepping on a quadrupedal robot with both rigid and compliant spines under the same MPC configurations. Compared to standard MPC, the developed CCPDI-enabled MPC distributes the ground reactive forces closer to the heuristics for body balance, and it is thus more likely to stabilize the gaits of the compliant robot. A parametric study shows that our method preserves some level of robustness within a suitable envelope of key parameter values. |
| title | Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.20301 |