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Dynamic legged locomotion is a challenging topic because of the lack ofestablished control schemes which can handle aerial phases, short stance times,and high-speed leg swings. In this paper, we propose a controller combiningwhole-body control (WBC) and model predictive control (MPC). In our framework,MPC finds an optimal reaction force profile over a longer time horizon with asimple model, and WBC computes joint torque, position, and velocity commandsbased on the reaction forces computed from MPC. Unlike existing WBCs, whichattempt to track commanded body trajectories, our controller is focused more onthe reaction force command, which allows it to accomplish high speed dynamiclocomotion with aerial phases. The newly devised WBC is integrated with MPC andtested on the Mini-Cheetah quadruped robot. To demonstrate the robustness andversatility, the controller is tested on six different gaits in a number ofdifferent environments, including outdoors and on a treadmill, reaching a topspeed of 3.7 m/s.

Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control