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Implementation of robust EPSAC on dynamic walking of COMAN humanoid
Castano, Juan A.; Hernandez Naranjo, Jairo Andres; Li, Zhibin et al.
2014In Boje, Edward (Ed.) 19th IFAC World Congress IFAC 2014, Proceedings
Peer reviewed
 

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Keywords :
Cart-table models; Dynamic constraints; Ill-conditioned systems; Inverted pendulum; Numerical instability; Self adaptive control; Simulation studies; Zero moment point; Control and Systems Engineering
Abstract :
[en] In this paper we present the Model Predictive Control (MPC) with dynamic constraints for generating dynamic walking for the compliant humanoid COMAN. The dynamics of the robot are modeled using the cart-table model which allows the generation of a dynamically balanced gait given a planned walking pattern based on the Zero Moment Point (ZMP). Our simulation study of the MPC's implementation on bipedal walking finds out that a large receding and control horizons are needed to track a predefined walking pattern, leading to numerical instability. Therefore, the Extended Prediction Self-Adaptive Control (EPSAC) approach for MPC has been used and a method based on the analysis of the Singular Value Decomposition (SVD) is presented as new contribution to guarantee feasibility, robustness and stability of the MPC formulation. Study on an inverted pendulum and the COMAN humanoid prove that the proposed strategy improves the robustness and stability of the original EPSAC controller, in both well or ill conditioned systems. The simulation results finally demonstrate that the proposed methodology is well suited to smoothly track a dynamic walking pattern.
Disciplines :
Energy
Author, co-author :
Castano, Juan A.;  Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy
Hernandez Naranjo, Jairo Andres  ;  Université de Liège - ULiège > Département d'aérospatiale et mécanique > Systèmes énergétiques
Li, Zhibin;  Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy
Zhou, Chengxu;  Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy
Tsagarakis, Nikos G.;  Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy
Caldwell, Darwin G.;  Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy
De Keyser, Robin;  Department of Electrical Energy, Systems and Automation, Ghent University, Belgium
Language :
English
Title :
Implementation of robust EPSAC on dynamic walking of COMAN humanoid
Publication date :
2014
Event name :
19th World Congress of the International Federation of Automatic Control (IFAC 2014)
Event organizer :
IFAC
Event place :
Cape Town, South Africa
Event date :
24-08-2014 => 29-08-2014
By request :
Yes
Audience :
International
Main work title :
19th IFAC World Congress IFAC 2014, Proceedings
Editor :
Boje, Edward
Publisher :
IFAC Secretariat
ISBN/EAN :
978-3-902823-62-5
Peer review/Selection committee :
Peer reviewed
Funding text :
This work is supported by the FP7 European projects AMARSi (ICT-248311) and WALK-MAN (ICT-2013-10). Andres Hernandez acknowledge the financial support provided by the Institute for the Promotion and Innovation by Science and Technology in Flanders (IWT SBO-110006).
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since 03 October 2025

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