We present an extension of our previously proposed IS-MPC method for humanoid gait generation aimed at obtaining robust performance in the presence of disturbances. The considered disturbance signals vary in a range of known amplitude around a mid-range value that can change at each sampling time, but whose current value is assumed to be available. The method consists in modifying the stability constraint that is at the core of IS-MPC by incorporating the current mid-range disturbance, and performing an appropriate restriction of the ZMP constraint in the control horizon on the basis of the range amplitude of the disturbance. We derive explicit conditions for recursive feasibility and internal stability of the IS-MPC method with constraint modification. Finally, we illustrate its superior performance with respect to the nominal version by performing dynamic simulations on the NAO robot.

ZMP Constraint Restriction for Robust Gait Generation in Humanoids / Smaldone, F. M.; Scianca, N.; Modugno, V.; Lanari, L.; Oriolo, G.. - (2020), pp. 8739-8745. ((Intervento presentato al convegno 2020 IEEE International Conference on Robotics and Automation, ICRA 2020 tenutosi a Electr Network [10.1109/ICRA40945.2020.9197171].

ZMP Constraint Restriction for Robust Gait Generation in Humanoids

Smaldone F. M.
;
Scianca N.
;
Modugno V.
;
Lanari L.
;
Oriolo G.
2020

Abstract

We present an extension of our previously proposed IS-MPC method for humanoid gait generation aimed at obtaining robust performance in the presence of disturbances. The considered disturbance signals vary in a range of known amplitude around a mid-range value that can change at each sampling time, but whose current value is assumed to be available. The method consists in modifying the stability constraint that is at the core of IS-MPC by incorporating the current mid-range disturbance, and performing an appropriate restriction of the ZMP constraint in the control horizon on the basis of the range amplitude of the disturbance. We derive explicit conditions for recursive feasibility and internal stability of the IS-MPC method with constraint modification. Finally, we illustrate its superior performance with respect to the nominal version by performing dynamic simulations on the NAO robot.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1469560
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