ステップ調整機能を備えたヒューマノイド歩行のためのオンライン非線形重心MPC
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
重心ダイナミクスに基づく非線形モデル予測制御で、単脚・両脚支持期の接地位置をオンライン調整し、跳躍・走行・外乱下の歩行を実現した研究。
著者: Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci
分類: cs.RO
原文アブストラクト
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact forces and torques and contact locations. Differently from bipedal walking architectures based on simplified models, the presented approach considers the reduced centroidal model, thus allowing the robot to perform highly dynamic movements while keeping the control problem still treatable online. We show that the proposed controller can automatically adjust the contact location both in single and double support phases. The overall approach is then tested with a simulation of one-leg and two-leg systems performing jumping and running tasks, respectively. We finally validate the proposed controller on the position-controlled Humanoid Robot iCub. Results show that the proposed strategy prevents the robot from falling while walking and pushed with external forces up to 40 Newton for 1 second applied at the robot arm.
