Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control
Abstract
:1. Introduction
1.1. Background
1.2. Motivation
1.3. Related Work
1.4. Contribution
- (1)
- The proposed TP-MPC method can generate feasible swing leg trajectories that balance the robot while standing on one foot. The WBC tracks the generated swing leg trajectories. As a result, the overall control scheme can resist large external disturbances.
- (2)
- The TP-MPC catches the main effects of the swing leg motion while being simple enough to operate at the same frequency as the WBC.
2. Three-Particle Model Predictive Control
2.1. Three-Particle Simplified Model
2.2. Tasks
2.3. Constraints
2.4. MPC Optimization Problem
2.4.1. Tasks
2.4.2. Constraints
2.4.3. The Quadratic Programming Problem
3. Hierarchical Whole-Body Control
3.1. Problem Formulation
3.2. Tasks
3.2.1. Floating Base Dynamics Task
3.2.2. Centroidal Dynamics Task
3.2.3. Torso Orientation Task
3.2.4. Feet Position and Orientation Task
3.2.5. Contact Wrench Task
3.3. Constraints
3.3.1. Joint Torque Constraint
3.3.2. ZMP Constraint
3.3.3. Foot Friction Cone Constraint
3.4. Control Framework
4. Simulation Results and Discussion
4.1. Simulation Setup
4.2. Results
4.2.1. Frontal Impact
4.2.2. Side Impact
4.3. Discussion
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Priority | Tasks | Tasks Dimension | Constraints | Constraints Dimension |
---|---|---|---|---|
1 | Floating Base Dynamics | 6 | Joint Torque | 10 |
2 | Linear Momentum | 6 | ZMP | 9 |
Torso Posture | Friction Cone | |||
3 | Foot Position & Posture | 16 | ||
Contact Wrench |
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Yang, Y.; Shi, J.; Huang, S.; Ge, Y.; Cai, W.; Li, Q.; Chen, X.; Li, X.; Zhao, M. Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control. Biomimetics 2022, 7, 244. https://doi.org/10.3390/biomimetics7040244
Yang Y, Shi J, Huang S, Ge Y, Cai W, Li Q, Chen X, Li X, Zhao M. Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control. Biomimetics. 2022; 7(4):244. https://doi.org/10.3390/biomimetics7040244
Chicago/Turabian StyleYang, Yong, Jiyuan Shi, Songrui Huang, Yuhong Ge, Wenhan Cai, Qingkai Li, Xueying Chen, **u Li, and Mingguo Zhao. 2022. "Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control" Biomimetics 7, no. 4: 244. https://doi.org/10.3390/biomimetics7040244