We propose an effective whole-body MPC controller for locomotion of humanoid robots. Our method generates motions using the full kinematics, allowing it to account for joint limits and to exploit upper-body motions to reject disturbances. Each MPC iteration solves a single QP that considers the interplay between dynamic and kinematic features of the robot. Thanks to our special formulation, we are able to perform a feasibility analysis, which opens the door to future enhancements of functionality and performance, e.g., step adaptation in complex environments. We demonstrate its effectiveness through a campaign of dynamic simulations aimed at highlighting how the joint limits and the use of the angular momentum through upper-body motions are fundamental for maximizing performance, robustness, and ultimately make the robot able to execute more challenging gaits.

Joint-level IS-MPC: a whole-body MPC with centroidal feasibility for humanoid locomotion / Belvedere, Tommaso; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe. - (2024). (Intervento presentato al convegno 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024) tenutosi a Abu Dhabi ,UAE).

Joint-level IS-MPC: a whole-body MPC with centroidal feasibility for humanoid locomotion

Tommaso Belvedere;Nicola Scianca;Leonardo Lanari;Giuseppe Oriolo
2024

Abstract

We propose an effective whole-body MPC controller for locomotion of humanoid robots. Our method generates motions using the full kinematics, allowing it to account for joint limits and to exploit upper-body motions to reject disturbances. Each MPC iteration solves a single QP that considers the interplay between dynamic and kinematic features of the robot. Thanks to our special formulation, we are able to perform a feasibility analysis, which opens the door to future enhancements of functionality and performance, e.g., step adaptation in complex environments. We demonstrate its effectiveness through a campaign of dynamic simulations aimed at highlighting how the joint limits and the use of the angular momentum through upper-body motions are fundamental for maximizing performance, robustness, and ultimately make the robot able to execute more challenging gaits.
2024
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)
Humanoids; locomotion; whole-body control
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Joint-level IS-MPC: a whole-body MPC with centroidal feasibility for humanoid locomotion / Belvedere, Tommaso; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe. - (2024). (Intervento presentato al convegno 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024) tenutosi a Abu Dhabi ,UAE).
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1726467
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