Model predictive posture control considering zero moment point for three-dimensional motion of leg/wheel mobile robot

Leg/wheel robots has a hybrid movement mechanism which combines leg and wheel mechanism. In this paper, we propose a posture control for three-dimensional leg/wheel robots in which the distance between zero moment point and center of gravity are minimized using model predictive control. It is expected to prevent overturning of the robots based on prediction and considering zero moment point. The proposed method can be applied to the robots with redundant degrees of freedom. We show the superiority of the proposed method through simulations of multiple body dynamics.