Paper Info
Title
A distributed model predictive control approach for robust postural stability of a humanoid robot
Abstract
A novel formulation of the synthesis of motor coordination for humanoid whole-body motion is proposed in this paper, in order to ensure robust control of postural stability. It relies on the distributed model predictive control framework to coordinate, in an optimal way, several objectives. The effectiveness of this control technique to maintain postural stability of a biped against strong external disturbances is shown. Control of the horizontal dynamics of the center of mass can withstand limited perturbations. Thus postural stability criteria are specified with respect to the robot center of mass vertical and horizontal dynamics, and to the angular dynamics of its torso. Formulating the balance problem in a predictive form and distributing at different time scales significantly increases the robustness of the system to external disturbances, in terms of both tip-over and slippage risks. This original control architecture is validated through the simulation of an iCub robot performing a walking activity under unknown external actions.
Year
DOI
Venue
2014
10.1109/ICRA.2014.6906610
Robotics and Automation
Keywords
DocType
Volume
distributed control,humanoid robots,predictive control,robot dynamics,robust control,stability criteria,angular dynamics,balance problem,biped robot,control architecture,distributed model predictive control approach,external disturbances,humanoid robot,humanoid whole-body motion,iCub robot simulation,motor coordination synthesis,postural stability criteria,robot center of mass horizontal dynamics control,robot center of mass vertical dynamics control,robust control,robust postural stability,slippage risks,tip-over,torso,unknown external actions,walking activity
Conference
2014
Issue
ISSN
Citations 
1
1050-4729
1
PageRank 
References 
Authors
0.35
13
3
Name
Order
Citations
PageRank
Aurelien Ibanez1111.66
Philippe Bidaud220721.09
vincent padois316815.26