Receding horizon viability radius for stability of humanoid robot under external perturbation
نویسندگان
چکیده
Receding horizon viability radius for stability of humanoid robot under external perturbation Sangyong Lee, Munsang Kim, Jongwon Kim and Mun-Taek Choi School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, 151-742, Korea Center for Intelligent Robotics, Korea Institute of Science and Technology, 39-1 Hawolgok-dong, Sungbuk-gu, Seoul 136-791, Korea Mechanical and Aerospace Engineering, Seoul National University, Seoul, 151-742, Korea Center for Intelligent Robotics, Korea Institute of Science and Technology, 39-1 Hawolgok-dong, Sungbuk-gu, Seoul 136-791, Korea
منابع مشابه
Receding Horizon Based Control of Disturbed Upright Balance with Consideration of Foot Tilting(RESEARCH NOTE)
In some situations, when an external disturbance occurs, humans can rock stably backward and forward by lifting the toe or the heel to keep the upright balance without stepping. Many control schemes have been proposed for standing balance control under external disturbances without stepping. But, in most of them researchers have only considered a flat foot phase. In this paper a framework is pr...
متن کاملA Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot
Balancing and reacting to strong and unexpected pushes is a critical requirement for humanoid robots. We recently designed a capture point based approach which interfaces with a momentum-based torque controller and we implemented and validated it on the iCub humanoid robot. In this work we implement a Receding Horizon control, also known as Model Predictive Control, to add the possibility to pr...
متن کاملExperiments on Stabilizing Receding Horizon Control of a Direct Drive Manipulator
In this paper, the application of receding horizon control to a two-link direct drive robot arm is demonstrated. Instead of the terminal constraints, a terminal cost on receding horizon control is used to guarantee the stability, because of the computational demand. The key idea of this paper is to apply the receding horizon control with the terminal cost which is derived from the energy functi...
متن کاملDesign of Distributed Optimal Adaptive Receding Horizon Control for Supply Chain of Realistic Size under Demand Disturbances
supply chain network receding horizon control demand move suppression term Supply chain networks are interconnection and dynamics of a demand network. Example subsystems, referred to as stages, include raw materials, distributors of the raw materials, manufacturers, distributors of the manufactured products, retailers, and customers. The main objectives of the control strategy for the s...
متن کاملStabilizing Receding Horizon Control for Three Dimensional Visual Feedback System with Fixed Camera Configuration
This paper investigates vision based robot control based on a receding horizon control strategy, as a first step for a predictive visual feedback control. Firstly, the brief summary of the 3D dynamic visual feedback system with fixed camera configuration is given. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback system, a highly nonlinear and relatively fast syste...
متن کامل