MPC-Based Reference Governor Control for Self-Righting of Quadruped Robots: Preliminary Results

• Aureo Guilherme Dobrikopf UDESC https://orcid.org/0000-0003-1667-8003
• Lucas Schulze UDESC https://orcid.org/0000-0003-0662-3279
• Douglas Widlgrube Bertol UDESC https://orcid.org/0000-0002-6980-7422
• Victor Barasuol Istituto Italiano di Tecnologia https://orcid.org/0000-0003-4966-5743

Resumo

Even with the current efficient legged robots' control techniques, unexpected situations may occur, leading the system to a fall. For the robot to recover mobility, it must be capable of autonomously repositioning itself. The named Self-Righting task aims to solve the problem of robot mobility recovery with a set of reference poses. This work proposes using a Reference Governor Control (RGC) for a quadrupedal robot's stand-up sub-task in a closed-loop scheme. The RGC is composed of a predictive controller based on the robot's states and the constraints' forces obtained from its interaction with the environment. From the results, it is possible to observe that the proposed solution can reposition the robot to a fully recovered mobility state.

Palavras-chave: System dynamics, Simulation, Robot control, Predictive models, Mathematical models, Robustness, Quadrupedal robots, Reference Governor Control, Model Predictive Control, Self-Righting