Motion Control Study of a Quadruped Robot Based on Gazebo

In order to improve the stability and robustness of the quadruped robot during its motion, this paper proposes a method of model prediction to control the motion of the quadruped robot. Firstly, the single rigid body dynamics model of the quadruped robot is established to obtain the relationship between the state of the quadruped robot motion and the end-foot force, the end-foot force required by the quadruped robot is calculated by the model prediction controller, the single rigid body dynamics problem of the quadruped robot is transformed into a convex optimization problem with constraints, and the moments of each joint are obtained by the Jacobi matrix and the end-foot force to realize the stable motion of the quadruped robot. Finally, through the Gazebo in ROS to realize the stable walking in the complex terrain such as gravel road, one-sided bridge, etc., the results show that the control method can effectively control the stable movement of the quadruped robot in the gravel road.