Constrained Predictive Tracking Control for Unmanned Hexapod Robot with Tripod Gait

Since it is difficult to accurately track reference trajectories under the condition of stride constraints for an unmanned hexapod robot moving with rhythmic gait, omnidirectional tracking strategy based on model predictive control and real-time replanning proposed in this paper. Firstly, according characteristic that dominates motion multi-legged robot, a body-level established. Secondly, quantification method limb’s stretch yaw described by relying tripod gait proposed, then, accurate controller constrained designed. Then, view low efficiency guidance common stride, solution variable period scheme are limb integral mean, which effectively avoid deviation caused constant strides. Finally, effectiveness practicability demonstrated through comparative analysis simulation test WelCH movement ability continuously directed curve undirected polyline trajectory.