Research on High-Speed Gait Planning and Control of Quadruped Robot

In order to improve the high-speed adaptive performance of quadruped robot in complex terrain, a high-speed motion planning and control method for quadruped robot is studied. The model predictive control method is adopted and the whole-body dynamics control strategy is integrated, two kinds of swing trajectories are planned and designed, and high-speed stable control of the robot under two kinds of gaits are achieved. Finally, the feasibility of the method is verified by experiments and the power consumption is compared for different high-speed gaits.