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Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots

Kaydedildi:
Yayımlandı:arXiv.org (Dec 22, 2024), p. n/a
Yazar: Elobaid, Mohamed
Diğer Yazarlar: Turrisi, Giulio, Rapetti, Lorenzo, Romualdi, Giulio, Dafarra, Stefano, Kawakami, Tomohiro, Chaki, Tomohiro, Yoshiike, Takahide, Semini, Claudio, Pucci, Daniele
Baskı/Yayın Bilgisi:
Cornell University Library, arXiv.org
Konular:
Payloads
Robust control
Robot dynamics
Closed loops
Robots
Predictive control
Adaptive control
Control stability
Stability
Nonlinear control
Liapunov functions
Parameter uncertainty
Nonlinear dynamics
Locomotion
Online Erişim:Citation/Abstract
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Özet:Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent simplification of the robot's dynamics, were shown to endow robots with a step-adjustment capability in reaction to small pushes, and, moreover, in the case of uncertain parameters - as unknown payloads - they were shown to be able to provide some practical, albeit limited, robustness. In this work, we provide rigorous certificates of their closed loop stability via a reformulation of the centroidal MPC controller. This is achieved thanks to a systematic procedure inspired by the machinery of adaptive control, together with ideas coming from Control Lyapunov functions. Our reformulation, in addition, provides robustness for a class of unmeasured constant disturbances. To demonstrate the generality of our approach, we validated our formulation on a new generation of humanoid robots - the 56.7 kg ergoCub, as well as on a commercially available 21 kg quadruped robot, Aliengo.
ISSN:2331-8422
Kaynak:Engineering Database