Humanoid push recovery strategy for unknown input forces

Mao, Wentao; Qin, Guihe; Lee, Ju-Jang

doi:10.1109/icma.2009.5246556

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2015

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“…In the case of biped humanoid robots, strong disturbances can be absorbed by adapting the motion of the CoM, or by realizing adequate steps [11], [12], [13], [14], [15], [16], [17]. But in both cases, the dynamics of the biped robots is not particularly changing.…”

Section: Introductionmentioning

confidence: 99%

Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot

Lafaye

Collette

Wieber

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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The goal of this paper is to present a real-time controller for an omnidirectional wheeled humanoid robot which can be strongly disturbed and tilt around its wheels. It is based on two linear model predictive controllers, managed by a tilt supervisor, which detects changes of the dynamic model caused by the tilt of the robot. Experimental results are proposed on the robot Pepper made by Aldebaran, showing good performance in term of stability an robustness.

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