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Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control
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Dynamic legged locomotion is a challenging topic because of the lack of established control schemes which can handle aerial phases, short stance times, and high-speed leg swings. In this paper, we propose a controller combining whole-body control (WBC) and model predictive control (MPC). In our framework, MPC finds an optimal reaction force profile over a longer time horizon with a simple model, and WBC computes joint torque, position, and velocity commands based on the reaction forces computed from MPC. Unlike existing WBCs, which attempt to track commanded body trajectories, our controller is focused more on the reaction force command, which allows it to accomplish high speed dynamic locomotion with aerial phases. The newly devised WBC is integrated with MPC and tested on the Mini-Cheetah quadruped robot. To demonstrate the robustness and versatility, the controller is tested on six different gaits in a number of different environments, including outdoors and on a treadmill, reaching a top speed of 3.7 m/s.
Forward citations
Cited by 13 Pith papers
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High-speed control and navigation for quadrupedal robots on complex and discrete terrain
A hierarchical planner-plus-tracker system enables a quadruped to run on walls, clear a 1.3 m gap, and navigate discrete terrain at up to 4 m/s using a competitive generative curriculum.
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PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
A hierarchical controller using a kinematic normalizing flow for partial inverse-kinematics redundancy plus low-level imitation yields 4.5 cm / 0.14 rad end-effector tracking while walking on a real quadruped-arm platform.
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ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion
Replacing adversarial motion-prior features with trajectory-optimization-derived dynamics features improves a humanoid policy's push recovery in simulation (J80 +16.7%, recovery time -47.9% vs AMP).
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Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization
A constrained whole-body follower enforces hard and soft safety limits on top of RL-generated joint trajectories, improving hexapod locomotion safety without retraining.
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Real-time Whole-body Model Predictive Control for Bipedal Locomotion with a Novel Kino-dynamic Model and Warm-start Method
A ZMP-based pendulum-plus-full-body-kinematics model with an MLP warm-start runs whole-body MPC for bipedal walking in under 17 ms and survives pushes in simulation and on the TOCABI humanoid.
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KiVi: Kinesthetic-Visuospatial Integration for Dynamic and Safe Egocentric Legged Locomotion
A quadruped locomotion controller that explicitly separates proprioceptive and visual pathways stays stable under camera occlusion and visual corruption that destabilizes fused-vision policies.
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Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion
A quadruped locomotion planner combines reactive synthesis with mixed-integer convex optimization to generate and repair terrain-adaptive gaits, with hardware demonstrations on stepping stones and rebar.
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A Koopman-operator linear model of a quadruped's single-rigid-body dynamics is used in a linear model predictive controller that tracks speeds and rejects pushes on a Unitree Go1.
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Refining Motion for Peak Performance: Identifying Optimal Gait Parameters for Energy-Efficient Quadrupedal Bounding
For the Unitree A1 bounding gait, simulation shows duty factor near 0.22 to 0.30 and longer stride durations minimize cost of transport, with hardware tests at 0.5 m/s only partially matching.
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McARL:Morphology-Control-Aware Reinforcement Learning for Generalizable Quadrupedal Locomotion
A morphology-conditioned PPO policy trained only on the Unitree Go1 transfers zero-shot in simulation to Go2, A1 and Mini Cheetah, with the best variant reaching 3.5 m/s on the Go2.
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An A*-on-octree planner with a height penalty plans ground-hugging 3D routes for ground vehicles in two simulations using under a tenth of the memory and computation time of uniform-grid A*, at nearly equal path length.
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