Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances
| Autor: | Filippo M. Smaldone, Giuseppe Oriolo, Valerio Modugno, Nicola Scianca, Leonardo Lanari |
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| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science 020208 electrical & electronic engineering Systems and Control (eess.SY) 02 engineering and technology Tracking (particle physics) Electrical Engineering and Systems Science - Systems and Control Stability (probability) Agricultural robots Anthropomorphic robots MATLAB Constraint (information theory) 020901 industrial engineering & automation Gait (human) Control theory Control point FOS: Electrical engineering electronic engineering information engineering 0202 electrical engineering electronic engineering information engineering Trajectory Set (psychology) computer computer.programming_language |
| Zdroj: | Humanoids |
| Popis: | Maintaining balance while walking is not a simple task for a humanoid robot because of its complex dynamics. The presence of a persistent disturbance makes this task even more challenging, as it can cause a loss of balance and ultimately lead the the robot to a fall. In this paper, we extend our previously proposed Intrinsically Stable MPC (IS-MPC), which guarantees boundedness of the CoM with respect to the ZMP, to the case of persistent disturbances. This is achieved by designing a disturbance observer whose estimate is used to compute a modified stability constraint included in the QP problem formulation. The method is validated by MATLAB simulations for the LIP as well as dynamic simulations for a NAO humanoid in DART. 7 pages, 10 figures, submitted to 2019 IEEE-RAS International Conference on Humanoid Robots |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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