Robust MPC-Based Gait Generation in Humanoids
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by
Filippo M. Smaldone,
Nicola Scianca,
Leonardo Lanari,
Giuseppe Oriolo
2020
Abstract
We introduce a robust gait generation framework for humanoid robots based on our Intrinsically Stable Model Predictive Control (IS-MPC) scheme, which features a stability constraint to guarantee internal stability. With respect to the original version, the new framework adds multiple components addressing the robustness problem from different angles: an observer-based disturbance compensation mechanism; a ZMP constraint restriction that provides robustness with respect to bounded disturbances; and a step timing adaptation module to prevent the loss of feasibility. Simulation and experimental results are presented.
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Date 2020-12-10
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