A robust linear MPC approach to online generation of 3D biped walking motion

C. Brasseur, Alexander Sherikov, C. Collette, Dimitar Dimitrov, Pierre-Brice Wieber
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引用次数: 94

Abstract

A crucial part in biped walking motion generation is to ensure dynamic feasibility, which takes the form of a nonlinear constraint in the general case. Our proposition is to bound the nonlinear part of the dynamic feasibility constraint between some properly chosen extreme values. Making sure that this constraint is satisfied for the extreme values guarantees its satisfaction for all possible values in between. This follows a classical approach from robust nonlinear control theory, which is to consider a nonlinear dynamical system as a specific selection of a time-invariant Linear Differential Inclusion. As a result, dynamic feasibility can be imposed by using only linear constraints, which can be included in an efficient linear MPC scheme, to generate 3D walking motions online. Our simulation results show two major achievements: 1) walking motions over uneven ground such as stairs can be generated online, with guaranteed kinematic and dynamic feasibility, 2) walking on flat ground is significantly improved, with a 3D motion of the CoM closely resembling the one observed in humans.
三维双足行走运动在线生成的鲁棒线性MPC方法
动态可行性是两足步行运动生成的关键问题,一般以非线性约束的形式存在。我们的建议是将动态可行性约束的非线性部分限定在一些适当选择的极值之间。确保对极值满足此约束可以保证对中间所有可能的值满足此约束。这遵循了鲁棒非线性控制理论的经典方法,该方法将非线性动力系统视为定常线性微分包含的特定选择。因此,仅使用线性约束就可以实现动态可行性,这些约束可以包含在有效的线性MPC方案中,以在线生成3D步行运动。我们的仿真结果显示了两个主要成果:1)在不平坦的地面(如楼梯)上的行走动作可以在线生成,保证了运动学和动力学的可行性;2)在平坦的地面上行走的效果得到了显著改善,CoM的三维运动非常类似于人类的运动。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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