2022
DOI: 10.3390/drones6090246
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Constrained Predictive Tracking Control for Unmanned Hexapod Robot with Tripod Gait

Abstract: Since it is difficult to accurately track reference trajectories under the condition of stride constraints for an unmanned hexapod robot moving with rhythmic gait, an omnidirectional tracking strategy based on model predictive control and real-time replanning is proposed in this paper. Firstly, according to the characteristic that the stride dominates the rhythmic motion of an unmanned multi-legged robot, a body-level omnidirectional tracking model is established. Secondly, a quantification method of limb’s st… Show more

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Cited by 8 publications
(8 citation statements)
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“…Vertical motions for the four wheels are described in (8). Vertical motions of the four actuator support blocks are represented in (9). A simplified vehicle model is shown in Figure 2.…”
Section: Construction Of Vehicle Mechanical Modementioning
confidence: 99%
See 1 more Smart Citation
“…Vertical motions for the four wheels are described in (8). Vertical motions of the four actuator support blocks are represented in (9). A simplified vehicle model is shown in Figure 2.…”
Section: Construction Of Vehicle Mechanical Modementioning
confidence: 99%
“…The active system can control the body attitude according to the terrain information for eliminating large swings and vibrations of the car body in a harsh terrain situation [6][7][8]. In the robotics field, research on body-level control and body motion control on unmanned multi-joints robots has been increasing [9][10][11][12][13][14][15]. However, the problem of high energy consumption and low reliability of parallel active suspensions and joint-actuators still limit their utilization.…”
Section: Introductionmentioning
confidence: 99%
“…Recent research has expanded beyond PNGL to address the simultaneous control of impact time and angle. The multi-constrained guidance problem is often framed as a nonlinear control issue, with solutions including predictive control [1][2][3], sliding mode control [4][5][6], and polynomial guidance. Ref.…”
Section: Introductionmentioning
confidence: 99%
“…In turn, the control strategies commonly used in hexapods aim at developing efficient and adaptive locomotion [14][15][16]. Several studies employ Artificial Intelligence (AI) for the efficient gait generation in regular surfaces [17][18][19].…”
Section: Introductionmentioning
confidence: 99%