Energy-Efficient MPC for biped robots
نویسندگان
چکیده
Traditional methods for robotic biped locomotion employing stiff actuation display low energy efficiency and high sensitivity to disturbances. Legged locomotion can be modelled as an hybrid system, where continuous dynamic flows, such as the single or double support stages, are interrupted by discrete jumps, such as heelstrike or lift-off. Traditional control systems are not suited to deal with hybrid systems or with the compliance added by passive elements. A Model Predictive Control (MPC) approach is proposed to deal with the hybrid system dynamics. The controller generates energy efficient gaits for a simulated Simplest Walker (SW) mechanism, tracks the gait trajectories in the presence of sensor noise and small disturbances and is able to adapt to strong and impulsive pushes.
منابع مشابه
Robust Trajectory Free Model Predictive Control of Biped Robots with Adaptive Gait Length
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