Research on Model Predictive Control of Quadruped Robot Based on Improved Single Rigid Body Dynamics Model

The dynamic model of a rigid body is widely utilized to depict the overall motion characteristics of robots, particularly in the realm of motion control for quadruped robots. However, conventional approaches tend to oversimplify the angular motion equations of the single rigid body dynamic model, resulting in inadequate performance in terms of angular motion direction for the robot. This paper proposes an improved method for the dynamic modeling of a quadruped robot based on a single rigid body model. By preserving more linear terms in the angular motion direction compared to the simplified approach, a motion controller is designed for the quadruped robot. The controller consists of a model predictive controller based on the improved single rigid body dynamic model and a whole-body controller. Experimental results demonstrate that this motion controller exhibits excellent performance in tracking the angular motion direction of the quadruped robot.