Real-time walking pattern optimization for humanoid robot based on model predictive control

被引：0
|
作者：
Ding J.-T. [1 ]
He J. [1 ]
Li L.-Z. [1 ]
Xiao X.-H. [1 ]
机构：
[1] School of Power and Mechanical Engineering, Wuhan University, Wuhan
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2019年 / 53卷 / 10期
关键词：
Bipedal walking; Humanoid robot; Inverted pendulum plus flywheel model (IPFM); Model predictive control (MPC); Step locations adaptation; Trunk rotation;
D O I：
10.3785/j.issn.1008-973X.2019.10.001
中图分类号：
学科分类号：
摘要：
A model predictive control (MPC) strategy was proposed for walking pattern generation and optimization in order to compensate for the dynamic disturbances during the walking process of a humanoid robot. The state equation of the locomotion system was established based on the inverted pendulum plus flywheel model (IPFM). Given the reference step locations and reference body rotation angles, the multi-objective cost function was proposed, where the center of mass (CoM) trajectory generation, step locations adjustment and trunk rotation optimization were addressed simultaneously. The quadratic programming (QP) problem was formulated by considering the feasibility constraints including the constraints of maximal support region, limits of step location variation and others. The optimal CoM trajectory, step locations and trunk rotation angles were computed online by using the open-sourced solver. The simulation results demonstrated the feasibility and effectiveness of the proposed method. Results show that each control loop is solved within 2 ms so that it can be used in real time. The proposed method endows humanoids with the ability of walking stably with larger variation of step parameters by exploiting reactive trunk rotation. The robot can recover from severer external pushes from different directions by using the proposed method, compared with other strategies which merely adjust the step locations. © 2019, Zhejiang University Press. All right reserved.
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页码：1843 / 1851
页数：8
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