Sovukluk, Sait und Ott, Christian und Ankaralı, M. Mert (2024) Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations. In: 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023, Seiten 1-8. 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2023-12-12 - 2023-12-14, Austin, TX, USA. doi: 10.1109/Humanoids57100.2023.10375153. ISBN 979-835030327-8. ISSN 2164-0572.
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Offizielle URL: https://ieeexplore.ieee.org/document/10375153
Kurzfassung
This study demonstrates a cascaded model predictive control (C-MPC) method for input constrained control of underactuated planar bipedal walking with any predefined sta-bilizable trajectory. Our approach aims to increase the trajectory tracking performance of the system and produce realistic and applicable responses while respecting friction constraints and considering impact dynamics. Primarily focusing on zero dynamics with PD (ZD+PD) control, this proposed control method constitutes a second layer controller on top of the well-known trajectory tracking controllers for underactuated bipedal walking systems. We successfully implement this model-based controller and test against large modeling errors, noises, and disturbances, where the conventional ZD+PD control fails to maintain stability.
elib-URL des Eintrags: | https://elib.dlr.de/202339/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations | ||||||||||||||||
Autoren: |
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Datum: | 1 Januar 2024 | ||||||||||||||||
Erschienen in: | 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/Humanoids57100.2023.10375153 | ||||||||||||||||
Seitenbereich: | Seiten 1-8 | ||||||||||||||||
ISSN: | 2164-0572 | ||||||||||||||||
ISBN: | 979-835030327-8 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | bipedal walking | ||||||||||||||||
Veranstaltungstitel: | 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids) | ||||||||||||||||
Veranstaltungsort: | Austin, TX, USA | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 12 Dezember 2023 | ||||||||||||||||
Veranstaltungsende: | 14 Dezember 2023 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Laufroboter/Lokomotion [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||
Hinterlegt am: | 23 Jan 2024 15:11 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 21:02 |
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