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.
2019, 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Pages 651-656
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances (04b Atto di convegno in volume)
Smaldone F. M., Scianca N., Modugno V., Lanari L., Oriolo G.
Gruppo di ricerca: Robotics