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Model Predictive Optimization and Control of Quadruped Whole-Body Locomotion

Chao Cun Qunting Yang Zhijun Li MengChu Zhou Jianxin Pang

自动化学报（英文版）2025，Vol.12Issue(10)：2103-2114,12.

自动化学报（英文版）2025，Vol.12Issue(10)：2103-2114,12.DOI:10.1109/JAS.2024.125073

Model Predictive Optimization and Control of Quadruped Whole-Body Locomotion

Chao Cun ¹Qunting Yang ²Zhijun Li ¹MengChu Zhou ²Jianxin Pang³

作者信息

1. Department of Automation,University of Science and Technology of China,Hefei 230026
2. Institute of Artificial Intelligence,Hefei Comprehensive National Science Center,Hefei 230031,China
3. School of Mechanical Engineering,Translational Research Center,Tongji University,Shanghai 201804,Shanghai Yangzhi Rehabi-litation Hospital,Tongji University,Shanghai 201804
折叠

摘要

关键词

Hybrid motion/force control/model predictive con-trol(MPC)/neural-dynamics/quadruped/whole-body control

Key words

Hybrid motion/force control/model predictive con-trol(MPC)/neural-dynamics/quadruped/whole-body control

引用本文复制引用

Chao Cun,Qunting Yang,Zhijun Li,MengChu Zhou,Jianxin Pang..Model Predictive Optimization and Control of Quadruped Whole-Body Locomotion[J].自动化学报（英文版）,2025,12(10):2103-2114,12.

基金项目

This work was supported in part by the National Natural Science Foundation of China(62133013,U22A2060)and Dreams Foundation of Jianghuai Advance Technology Center(2023-ZM01Z024). （62133013,U22A2060）

自动化学报（英文版）

ISSN：2329-9266

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