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Model preview control in multi-contact motion-application to a humanoid robot

Hervé Audren 1, 2 Joris Vaillant 2, 1 Abderrahmane Kheddar 1, 2 Adrien Escande 1 Kenji Kaneko 1 Eiichi Yoshida 1 
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Our work builds largely on Nagasaka's stabilizer in multi-contact motion [1]. Using a sequence of contact stances from an offline multi-contact planner, we use first a Model Predictive Controller to generate a dynamic trajectory of the center of mass, then a whole-body closed-loop model-based controller to track it at best. Relatively to Nagasaka's work, we allow frame changes of the preferred force, provide a heuristic to compute the timing of the transition from purely geometrical features and investigate the synchronization problem between the reduced-model preview control and the whole-body controller. Using our framework, we generate a wide range of 3D motions, while accounting for predictable external forces, which includes transporting objects. Simulation scenarios are presented and obtained results are analyzed and discussed.
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Hervé Audren, Joris Vaillant, Abderrahmane Kheddar, Adrien Escande, Kenji Kaneko, et al.. Model preview control in multi-contact motion-application to a humanoid robot. IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.4030-4035, ⟨10.1109/IROS.2014.6943129⟩. ⟨lirmm-01256511⟩



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