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ZMP Modeling and ARMPC Control for Payload on a Quadruped Robot's Passive Arm

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Giovanni B. Dessy and co-authors propose a passive-arm-aware ZMP model and an ARMPC control method for a quadruped robot carrying a payload via a passive arm, relating the stiffness, damping, and payload mass of the passive interface to the ZMP response, and note that lightly damped passive modes may overlap with gait harmonics. In hardware pull-and-release experiments with a 2 kg payload, the authors report that ARMPC completed all longitudinal and diagonal disturbance trials with no failures, whereas Baseline MPC failed 7/15 and 8/15 times, respectively. In simulation ablations, the authors report that ARMPC reduced ZMP margin violations and avoided failures under all tested conditions; Nominal MPC, which neither models nor compensates for the passive arm, and Baseline MPC, which compensates for the passive arm via estimated forces, had higher violation proportions and failure counts under disturbances.