Name
Title | ||
|---|---|---|
MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks |
Abstract | ||
|---|---|---|
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or whole-body controllers solve instantaneous optimization problems given task trajectories and the robot plant dynamics. However, the task-space control method we propose here relies on the prediction of future state trajectories and the corresponding costs-to-go terms over a finite time-horizon for computing control commands. We employ acceleration energy error as the performance index for the optimization problem and extend it over the finite-time horizon of our MPC. Our approach employs quadratically constrained quadratic programming, which includes quadratic constraints to handle multiple hierarchical tasks, and is computationally more efficient than nonlinear MPC-based approaches that rely on nonlinear programming. We validate our approach using numerical simulations of a new type of robot manipulator system, which contains underactuated and constrained mechanical structures. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/CDC42340.2020.9304031 | CDC |
DocType | Citations | PageRank |
Conference | 0 | 0.34 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jaemin Lee | 1 | 0 | 2.70 |
| Seung Hyeon Bang | 2 | 0 | 0.34 |
| Efstathios Bakolas | 3 | 133 | 22.03 |
| Luis Sentis | 4 | 574 | 59.74 |