Notes on the Locomotion of Quadrupted Robots

Raw Notes

Kim et al.

• WBC-MPC
  • MPC - model predictive control
  • WBC - whole-body control
  • A force reaction is calculated from the simplistic MPC model and is then applied to WBC.
  • WBIC - whole-body impulse control
    • body posture stabilization
    • reaction force execution
  • state estimator sends data to kinematic model to feed back into WBIC