Landing Control of Acrobat Robot by RHC -Experimental Evaluation

Abstract

In this paper, a nonlinear model predictive control (MPC) scheme for constrained mechanical systems with state discontinuity, or state jump, is considered, and a control method which extends a fast numerical algorithm based on continuation and GMRES methods, allowing online implementation for mechanical systems possible, is applied for. The validity of the strategy is demonstrated by a landing control for an acrobat robot based on a commercially avairable humanoid robot, KHR-1, where a general purpose compact computer system named C-CHIP developed at BMC is installed in the system.

A lizard-inspired active tail enables rapid maneuvers and dynamic stabilization in a terrestrial robot

“…Other robots have employed angular momentum for brachiation [18], hopping [19], and for landing control [20], [21]. Momentum-based control has appeared in terrestrial vehicles for zero-speed bicycle stabilization [22], [23], and has been implemented in a small robotic bicycle [24].…”

Falling avoidance control of acrobat robot by reinforcement learning

“…This robot is a commercially available cheap biped robot and it has 17 servomotors, and it can realize dynamic motions like antedeviation or cartwheel [6]. A servomotor,KRS-786ICS, is used at each joint.…”