부산대학교 도서관

Aiming at the stable motion of the three-legged robot during motion support, it is necessary to plan the ground reaction force (GRF) of the legs. For the control of the robot in the standing stage, we take the standing balance of the simple single rigid body tripod robot as the research object, use the model predictive control algorithm to plan the GRF of the position and attitude control of the three-legged robot, and then map the force to the operation space through the Jacobian matrix of the joint space to obtain the torque in the joint space. In this paper, Python and Adams are used for co-simulation, and good control results are obtained. It is proved that the algorithm is feasible in the three-legged robot. The above work provides a basis for the control and design of subsequent motion planning of the three-legged robot.