Name
Title | ||
|---|---|---|
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances |
Abstract | ||
|---|---|---|
From a control point of view, humanoid gait generation can be seen as a problem of tracking a suitable ZMP trajectory while guaranteeing internal stability. In the presence of disturbances, both these aspects are at risk, and a fall may ultimately occur. In this paper, we extend our previously proposed Intrinsically Stable MPC (IS-MPC) method, which guarantees stable tracking for the unperturbed case, to the case of persistent disturbances. This is achieved by designing a disturbance observer whose estimate is used to set up a modified stability constraint for the QP problem. The method is validated by MATLAB tests as well as dynamic simulations for a NAO humanoid in DART. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/Humanoids43949.2019.9035068 | 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) |
Keywords | DocType | ISSN |
persistent disturbances,humanoid gait generation,suitable ZMP trajectory,internal stability,IS-MPC,stable tracking,unperturbed case,disturbance observer,modified stability constraint,QP problem,NAO humanoid,intrinsically stable MPC method | Conference | 2164-0572 |
ISBN | Citations | PageRank |
978-1-5386-7631-8 | 0 | 0.34 |
References | Authors | |
8 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Smaldone Filippo M. | 1 | 0 | 0.34 |
| Nicola Scianca | 2 | 12 | 4.75 |
| Modugno Valerio | 3 | 0 | 0.34 |
| Leonardo Lanari | 4 | 43 | 11.31 |
| Giuseppe Oriolo | 5 | 1270 | 100.12 |