Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors

Autor:	Csomay-Shanklin, Noel, Dorobantu, Victor D., Ames, Aaron D.
Rok vydání:	2022
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	Achieving stable hopping has been a hallmark challenge in the field of dynamic legged locomotion. Controlled hopping is notably difficult due to extended periods of underactuation combined with very short ground phases wherein ground interactions must be modulated to regulate global state. In this work, we explore the use of hybrid nonlinear model predictive control paired with a low-level feedback controller in a multi-rate hierarchy to achieve dynamically stable motions on a 3D hopping robot. In order to demonstrate richer behaviors on the manifold of rotations, both the planning and feedback layers must be designed in a geometrically consistent fashion; therefore, we develop the necessary tools to employ Lie group integrators and appropriate feedback controllers. We experimentally demonstrate stable 3D hopping, as well as trajectory tracking and flipping in simulation. Comment: 7 pages, 7 figures, submitted to ICRA 2023
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2209.11808 Zobrazit plný text záznamu View this record from Arxiv