# Physics-informed Neural Network Predictive Control for Quadruped Locomotion

arXiv: https://arxiv.org/abs/2503.06995 · HTML: https://mlsanity.com/paper/2503.06995/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Mar 2025.

## Built on by (most cited first, 1 of 1)

- [IL-ACT: Imitation Learning with Adaptive Cartesian Tracking Control for a 30-ton Excavator](https://mlsanity.com/paper/2609.16696/) (2026)

## Abstract (arXiv)

This study introduces a unified control framework that addresses the challenge of precise quadruped locomotion with unknown payloads, named as online payload identification-based physics-informed neural network predictive control (OPI-PINNPC). By integrating online payload identification with physics-informed neural networks (PINNs), our approach embeds identified mass parameters directly into the neural network's loss function, ensuring physical consistency while adapting to changing load conditions. The physics-constrained neural representation serves as an efficient surrogate model within our nonlinear model predictive controller, enabling real-time optimization despite the complex dynamics of legged locomotion. Experimental validation on our quadruped robot platform demonstrates 35% improvement in position and orientation tracking accuracy across diverse payload conditions (25-100 kg), with substantially faster convergence compared to previous adaptive control methods. Our framework provides a adaptive solution for maintaining locomotion performance under variable payload conditions without sacrificing computational efficiency.