MPC strategy for dynamic stabilization of preplanned walking gaits

Castano, Juan A.; Zhou, Chengxu; Kryczka, Przemyslaw; Tsagarakis, Nikos G.

doi:10.1109/humanoids.2017.8246936

Cited by 3 publications

(3 citation statements)

References 17 publications

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“…MPC relies on dynamic models of the process, most often linear empirical models obtained by system identification. The main advantage of MPC is the fact that it allows the current timeslot to be optimized, while keeping future timeslots in account [ 55 ].…”

Section: Model Predictive Controllermentioning

confidence: 99%

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Zhang

Shan

et al. 2022

Micromachines

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In order to perform various complex tasks in place of humans, humanoid robots should walk robustly in the presence of interference. In the paper, an improved model predictive control (MPC) method based on the divergent components of motion (DCM) is proposed. Firstly, the humanoid robot model is simplified to a finite-sized foot-pendulum model. Then, the gait of the humanoid robot in the single-support phase (SSP) and double-support phase (DSP) is planned based on DCM. The center of mass (CoM) of the robot will converge to the DCM, which simplifies the feedback control process. Finally, an MPC controller incorporating an extended Kalman filter (EKF) is proposed to realize the tracking of the desired DCM trajectory. By adjusting the step duration, the controller can compensate for CoM trajectory errors caused by disturbances. Simulation results show that—compared with the traditional method—the method we propose achieves improvements in both disturbed walking and uneven-terrain walking.

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Section: Model Predictive Controllermentioning

confidence: 99%

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Zhang

Shan

et al. 2022

Micromachines

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“…In this sense, control developers are continuously making strategies that produce on-line task modifications, but most of the time these solutions are for specific use even though they can be of general purpose. Some examples are: balancing controllers in cooperation with bipedal walking [15], [16], Stabilization strategies when detecting external interaction [17], CoM and momentum control to provide stable gait execution.…”

Section: Introductionmentioning

confidence: 99%

Ctrl-MORE: A Framework to Integrate Controllers of Multi-DoF Robot for Developers and Users

Castano

Kryczka

Delhaisse

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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In recent years, many different feedback controllers for robotic applications have been proposed and implemented. However, the high coupling between the different software modules made their integration into one common architecture difficult. Consequently, this has hindered the ability of a user to employ the different controllers into a single, general and modular framework.To address this problem, we present Ctrl-MORE, a software architecture developed to fill the gap between control developers and other users in robotic applications. On one hand, Ctrl-MORE aims to provide developers with an opportunity to integrate easily and share their controllers with other roboticists working in different areas. For example, manipulation, locomotion, vision and so on. On the other hand, it provides to end-users a tool to apply the additional control strategies that guarantee the execution of desired behaviors in a transparent, yet efficient way. The proposed control architecture allows an easier integration of general purpose feedback controllers, such as stabilizers, with higher control layers such as trajectory planners, increasing the robustness of the overall system.

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“…Within these low level stabilizers, the one presented in [7] proposed a cascade controller with two consecutive phases. The first layer uses a Model based Predictive Control (MPC) that considers the future Center of Mass (CoM) trajectory and estimates the corresponding error according to the CoM dynamics model and actual states.…”

Section: Introductionmentioning

confidence: 99%

From Non-Reactive to Reactive Walking in Humanoid Robots

Castano

Zhou

Tsagarakis

2018

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

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In this paper we report the implementation and the experimental validation of a controller to provide reactive walking gait capabilities of bipedal robots during the execution of predefined walking patterns. The proposed method is a cascade controller design to cope with external disturbances and to increase the robot stability. IMU states are used as inputs to generate modifications of the feet and the Center of Mass trajectories of the predefined walking gait. The method increases the walking stability minimizing the errors due to small terrain variations and external disturbances. The effectiveness of the proposed controller is validated in simulation and in real implementation on the full-body humanoid robot COMAN+.

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MPC strategy for dynamic stabilization of preplanned walking gaits

Abstract: This is a repository copy of MPC strategy for dynamic stabilization of preplanned walking gaits.

Cited by 3 publications

References 17 publications

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Ctrl-MORE: A Framework to Integrate Controllers of Multi-DoF Robot for Developers and Users

From Non-Reactive to Reactive Walking in Humanoid Robots

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