Control of Arm-Foot Robot Through Model Predictive Control and Whole Body Control

Improving the operational ability of quadruped robots by carrying a robotic arm is an important research direction for quadruped robots. In this paper, we first establish a dynamic model. On the basis of the dynamic model, the model predictive control is used to solve the ground reaction of the quadruped robot. The whole body control is used to unify the movement and operation tasks. The simple mobile grasping task of the quadruped robot is realized in Webots simulation software.