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Choe, JongHun and Kim, Joon-Ha and Hong, Seungwoo and Lee, Jinoh and Park, Hae-Won (2023) Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control. IEEE Robotics and Automation Letters, 8 (8), pp. 5031-5038. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3291273. ISSN 2377-3766.
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Official URL: https://ieeexplore.ieee.org/document/10168974
Abstract
This paper presents a reactive locomotion method for bipedal robots enhancing robustness and external distur- bance rejection performance by seamlessly rendering several walking strategies of the ankle, hip, and footstep adjustment. The Nonlinear Model Predictive Control (NMPC) is formulated to take into account nonlinear Divergent Component of Motion (DCM) error dynamics that predicts the future states of the robot in response to the walking strategies. This formulated NMPC enables the seamless application of these strategies improving push disturbance rejection performance. The proposed controller is validated in simulation and through an experiment on a bipedal robot platform, Gazelle, which confirms its effectiveness in real-time.
| Item URL in elib: | https://elib.dlr.de/195856/ | ||||||||||||||||||||||||
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| Document Type: | Article | ||||||||||||||||||||||||
| Title: | Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control | ||||||||||||||||||||||||
| Authors: |
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| Date: | 30 June 2023 | ||||||||||||||||||||||||
| Journal or Publication Title: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||||||
| Volume: | 8 | ||||||||||||||||||||||||
| DOI: | 10.1109/LRA.2023.3291273 | ||||||||||||||||||||||||
| Page Range: | pp. 5031-5038 | ||||||||||||||||||||||||
| Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
| ISSN: | 2377-3766 | ||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||
| Keywords: | humanoids; locomotion; whole-body control; push recovery | ||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Walking robot/locomotion [RO] | ||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||||||
| Deposited By: | Lee, Dr. Jinoh | ||||||||||||||||||||||||
| Deposited On: | 06 Jul 2023 14:25 | ||||||||||||||||||||||||
| Last Modified: | 28 Jul 2023 09:36 |
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