Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers
| Autor: | Pierre-Alexandre Leziart, Thomas Corberes, Thomas Flayols, Steve Tonneau, Nicolas Mansard, Philippe Soueres |
|---|---|
| Přispěvatelé: | Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, University of Edinburgh, ANR-16-PILO-0001,RoboCom,RoboCom++ : Rethinking Robotics for the Robot Companion of the future(2016), ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019), European Project: 780684,H2020,MEMMO(2018), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT) |
| Jazyk: | angličtina |
| Rok vydání: | 2022 |
| Předmět: |
Human-Computer Interaction
Control and Optimization Artificial Intelligence Control and Systems Engineering Motion Control Mechanical Engineering Legged Robots Optimization and Optimal Control Biomedical Engineering Computer Vision and Pattern Recognition Computer Science Applications [SPI.AUTO]Engineering Sciences [physics]/Automatic |
| Zdroj: | IEEE Robotics and Automation Letters IEEE Robotics and Automation Letters, 2022, 7 (4), pp.9945-9952. ⟨10.1109/LRA.2022.3192581⟩ |
| ISSN: | 2377-3766 |
| Popis: | International audience; This paper presents significant improvements to the nominal control scheme of the open-access Solo-12 quadruped and an experimental comparative study of different Model Predictive Controllers (MPC) that were implemented and tested on the robot. The modifications of the controller formulation that improved the nominal behavior and reduced tracking oscillations are first described. Thanks to them, the maximum reachable velocity of the robot was doubled and the foot placement was improved. On this basis three MPCs of increasing complexity were compared to evaluate the validity of different assumptions and heuristics. They range from a simplified linear centroidal model with contact points fixed by a heuristics, to a nonlinear one that also optimizes the contact points locations. Experimental results show that, thanks to the fast solver Crocoddyl and the proposed formulation, similar performances can be obtained with a MPC that optimizes both the center of mass trajectory and the foot placement, while taking into accounts the nonlinearity of the centroidal model, than with a modular scheme using a heuristic for foot placement and considering a linearized model. This paves the way for future work such as leveraging information about the environment to improve footsteps placement and timings. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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