Model Predictive Control for Tilt Recovery of an Omnidirectional Wheeled Humanoid Robot

被引：0
|
作者：
Lafaye, Jury [1 ]
Collette, Cyrille [1 ]
Wieber, Pierre-Brice [2 ]
机构：
[1] Aldebaran Robot, Paris, France
[2] Inria Grenoble Rhone Alpes, Grenoble, France
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2015年
关键词：
Humanoid Robotics; Mobile Robotics; Omnidirectional Wheeled Robot; Tilt Recovery; Push Recovery; Linear Model Predictive Control; Quadratic Programming; Aldebaran Pepper Robot;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The goal of this paper is to present a real-time controller for an omnidirectional wheeled humanoid robot which can be strongly disturbed and tilt around its wheels. It is based on two linear model predictive controllers, managed by a tilt supervisor, which detects changes of the dynamic model caused by the tilt of the robot. Experimental results are proposed on the robot Pepper made by Aldebaran, showing good performance in term of stability an robustness.
引用
收藏
页码：5134 / 5139
页数：6
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