NDLI: Implementation of the model predictive control for on-line trajectory planning of a walking robot subjected to external disturbances

Content Provider	IEEE Xplore Digital Library
Author	Bagheri, A. Miripour-Fard, B.
Copyright Year	2011
Description	Author affiliation: Department of Mechanical, Engineering, the University of Guilan, Rasht-Iran (Bagheri, A.) \|\| Department of Mechanical Engineering, the University of Guilan, Rasht-Iran (Miripour-Fard, B.)
Abstract	In everyday life environments, various disturbances like pushing or pulling forces may cause humanoids to fall. Thus, they should be able to quickly adapt to disturbances. Model predictive control is a general control scheme which can generate the online motions need to be realized to act efficiently against disturbances. In this paper the model predictive control is used to address the problem of online compensation of the external disturbances exerted to a biped robot. This is accomplished using a three dimensional linear inverted model of the robot in combination with model predictive control scheme. Several simulations have been done considering wide range of the push forces exerted in the Single Support Phase (SSP) and Double Support Phase (DSP) of the walking cycle. Design parameters of the MPC such as control and prediction horizon and constraints on the manipulating variable are adjusted to improve the results. Simulation results demonstrate the effectiveness of the method to compensate the disturbances both in SSP and DSP.
Starting Page	590
Ending Page	594
File Size	1394006
Page Count	5
File Format	PDF
ISBN	9781612849195
e-ISBN	9781612849225
DOI	10.1109/INISTA.2011.5946155
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-15
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Model predictive control Biped robot Humanoid robots Predictive models Trajectory Mathematical model External disturbances Predictive control Online pattern generation
Content Type	Text
Resource Type	Article

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