Model preview control in multi-contact motion-application to a humanoid robot

Herve Audren, Joris Vaillant, Abderrahmane Kheddar, Adrien Escande, Kenji Kaneko, Eiichi Yoshida
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Our work builds largely on Nagasaka's stabilizer in multi-contact motion [1] . Using a sequence of contact stances from an offline multi-contact planner, we use first a Model Predictive Controller to generate a dynamic trajectory of the center of mass, then a whole-body closed-loop model-based controller to track it at best. Relatively to Nagasaka's work, we allow frame changes of the preferred force, provide a heuristic to compute the timing of the transition from purely geometrical features
more » ... d investigate the synchronization problem between the reduced-model preview control and the whole-body controller. Using our framework, we generate a wide range of 3D motions, while accounting for predictable external forces, which includes transporting objects. Simulation scenarios are presented and obtained results are analyzed and discussed.
doi:10.1109/iros.2014.6943129 dblp:conf/iros/AudrenVKEKY14 fatcat:3ubfpwjblfhzjcdjpn6hvzblya