Dynamic Modeling and MPC for Locomotion of Tendon-Driven Soft Quadruped
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866917279312117760 |
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| author | Karan, Saumya Maram, Neerav Borate, Suraj Vadali, Madhu |
| author_facet | Karan, Saumya Maram, Neerav Borate, Suraj Vadali, Madhu |
| contents | SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is modeled as a deformable continuum using discrete Cosserat rod theory, enabling the capture of large bending deformations, distributed elasticity, tendon actuation, and ground contact interactions. A modular whole-body modeling framework is introduced, in which compliant leg dynamics are represented through physically consistent reaction forces applied to a rigid torso, providing a scalable interface between continuum soft limbs and rigid-body locomotion dynamics. This formulation allows efficient whole-body simulation and real-time control without sacrificing physical fidelity. The proposed model is embedded into a convex model predictive control framework that optimizes ground reaction forces over a 0.495 s prediction horizon and maps them to tendon actuation through a physics-informed force-angle relationship. The resulting controller achieves asymptotic stability under diverse perturbations. The framework is experimentally validated on a physical prototype during crawling and walking gaits, achieving high accuracy with less than 5 mm RMSE in center of mass trajectories. These results demonstrate a generalizable approach for integrating continuum soft legs into model-based locomotion control, advancing scalable and reusable modeling and control methods for soft quadruped robots. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_16371 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Dynamic Modeling and MPC for Locomotion of Tendon-Driven Soft Quadruped Karan, Saumya Maram, Neerav Borate, Suraj Vadali, Madhu Robotics SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is modeled as a deformable continuum using discrete Cosserat rod theory, enabling the capture of large bending deformations, distributed elasticity, tendon actuation, and ground contact interactions. A modular whole-body modeling framework is introduced, in which compliant leg dynamics are represented through physically consistent reaction forces applied to a rigid torso, providing a scalable interface between continuum soft limbs and rigid-body locomotion dynamics. This formulation allows efficient whole-body simulation and real-time control without sacrificing physical fidelity. The proposed model is embedded into a convex model predictive control framework that optimizes ground reaction forces over a 0.495 s prediction horizon and maps them to tendon actuation through a physics-informed force-angle relationship. The resulting controller achieves asymptotic stability under diverse perturbations. The framework is experimentally validated on a physical prototype during crawling and walking gaits, achieving high accuracy with less than 5 mm RMSE in center of mass trajectories. These results demonstrate a generalizable approach for integrating continuum soft legs into model-based locomotion control, advancing scalable and reusable modeling and control methods for soft quadruped robots. |
| title | Dynamic Modeling and MPC for Locomotion of Tendon-Driven Soft Quadruped |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.16371 |