Multi-Objective Optimal Torque Control with Simultaneous Motion and Force Tracking for Hydraulic Quadruped Robots

Model-based force control for motion and tracking faces significant challenges on real quadruped platforms due to the apparent model inaccuracies. In this paper, we present a multi-objective optimal torque hydraulic robots under errors, such as non-modelable components, linearization, disturbances, etc. More specifically, centroidal dynamics are first modeled project of floating-based whole-body behaviors frame. Model error compensation mechanisms subsequently developed track reference CoM, torso, foot-end trajectories, which mapped into joint space. Furthermore, scheme is formulated using quadratic programming (QP) coordinate follow ground reaction forces simultaneously while satisfying all constraints. Finally, series simulations well experiments platform, EHbot. The results demonstrate that proposed robust large inaccuracies improves performance overall system.