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Dettaglio pubblicazione

2020, Proceedings of I-RIM 2020, Pages -

Robust MPC-Based Gait Generation in Humanoids (04b Atto di convegno in volume)

Smaldone Filippo M., Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe

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.
Gruppo di ricerca: Robotics
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