The gait generation algorithm considering both step distance adjustment and step duration adjustment could improve the anti-disturbance ability of the humanoid robot, which is very important to the dynamic balance, but the step duration adjustment often brings non-convex optimization problems. In order to avoid this situation and improve the robustness of the gait generator, a gait generation mechanism based on flexible model predictive control is proposed in this article. Specifically, the step distance adjustment and step duration adjustment are set to be optimization objectives, while the change of pressure center is treated as the optimal input to minimize those objectives. With the current system state being used for online re-optimization, a feedback gait generator is formed to realize the strong stability of variable speed and variable step distance walking of the robot. The main contributions of this work are twofold. First, a gait generation mechanism based on flexible model predictive control is proposed, which avoids the problem of nonlinear optimization. Second, a variety of feasible optimization constraints were considered, they can be used on platforms with different computing resources. Simulations are conducted to verify the effectiveness of the proposed mechanism. Results show that as compared with those considering step adjustment only, the proposed method largely improves the compensation ability of disturbance and shortens the adjustment time.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Flexible model predictive control based on multivariable online adjustment mechanism for robust gait generation


    Beteiligte:

    Erscheinungsdatum :

    2020-01-06


    Anmerkungen:

    Sadiq , M 2020 , ' Flexible model predictive control based on multivariable online adjustment mechanism for robust gait generation ' , International Journal of Advanced Robotic Systems , vol. 17 , no. 1 . https://doi.org/10.1177/1729881419887291



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



    Multivariable model predictive control

    PEKAR JAROSLAV / STEWART GREGORY E | Europäisches Patentamt | 2015

    Freier Zugriff


    Modelling, Simulation and Multivariable Model-Based Predictive Control of Marine Power Generation System

    Hansen, J. F. / Adnanes, A. K. / Fossen, T. I. et al. | British Library Conference Proceedings | 1999


    Robust multivariable predictive control: an application to an industrial test stand

    Bordeneuve-Guibe, J. / Vaucoret, C. | Tema Archiv | 2001


    Robust multivariable flight control

    Adams, Richard J. | TIBKAT | 1994