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Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control

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.

[img] PDF - Preprint version (submitted draft)

Official URL: https://ieeexplore.ieee.org/document/10168974


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/
Document Type:Article
Title:Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Choe, JongHunKAISThttps://orcid.org/0000-0001-7127-1762UNSPECIFIED
Kim, Joon-HaKAISThttps://orcid.org/0000-0003-4928-9696UNSPECIFIED
Hong, SeungwooKAISThttps://orcid.org/0000-0001-7838-3839UNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Park, Hae-WonKAISThttps://orcid.org/0000-0001-6130-6589UNSPECIFIED
Date:30 June 2023
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 5031-5038
Publisher:IEEE - Institute of Electrical and Electronics Engineers
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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