接触安定な力パラメータ化を用いた人型ロボットのペイロード運搬のためのオンライン非線形重心MPC
Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization
人型ロボットが荷物を運ぶ際の持続的な外乱に対応するため、オンライン非線形重心モデル予測制御と接触安定な力パラメータ化を組み合わせ、シミュレーションとiCubで有効性を検証した。
著者: Mohamed Elobaid, Giulio Romualdi, Gabriele Nava, Lorenzo Rapetti, Hosameldin Awadalla Omer Mohamed, Daniele Pucci
分類: cs.RO
原文アブストラクト
In this paper we consider the problem of allowing a humanoid robot that is subject to a persistent disturbance, in the form of a payload-carrying task, to follow given planned footsteps. To solve this problem, we combine an online nonlinear centroidal Model Predictive Controller - MPC with a contact stable force parametrization. The cost function of the MPC is augmented with terms handling the disturbance and regularizing the parameter. The performance of the resulting controller is validated both in simulations and on the humanoid robot iCub. Finally, the effect of using the parametrization on the computational time of the controller is briefly studied.
