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Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e.,rigid surface that moves in the inertial frame) is a complex planning andcontrol problem. The complexity arises due to the hybrid nonlinear walkingdynamics subject to explicitly time-varying holonomic constraints caused by thesurface movement. The first main contribution of this study is the extension ofthe capture point from walking on a static surface to locomotion on a DRS aswell as the use of the resulting capture point for online motion planning. Thesecond main contribution is a quadratic-programming (QP) based feedbackcontroller design that explicitly considers the DRS movement. The stability androbustness of the proposed control approach are validated through simulationsof a quadrupedal robot walking on a DRS with a rocking motion. The simulationresults also demonstrate the improved walking performance compared with ourprevious approach based on offline planning and input-output linearizingcontrol that does not explicitly guarantee the feasibility of ground contactconstraints.

Extended Capture Point and Optimization-based Control for Quadrupedal Robot Walking on Dynamic Rigid Surfaces