2D Push Recovery and Balancing of the EVER3 - a Humanoid Robot with Wheel-Base, using Model Predictive Control and Gain Scheduling

Abstract

In this paper an efficient 2D push recovery and balancing controller for the EVER3 humanoid robotic platform with differentially steered wheel-base is presented. Real world utility of humanoid robots requires a balance algorithm that minimizes motion due to small disturbances while simultaneously being quick enough to recover from large pushes. The proposed work uses a Model Predictive Control scheme along with a whole body controller to achieve desired performance. Various experimental runs were performed on the robot with the presented approach to do the performance analysis. The experimental results presented here prove the efficacy of the proposed control scheme.