Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking
Biped robots are similar to human beings and have broad application prospects in the fields of family service, disaster rescue and military affairs. However, simplified models and fixed center of mass (COM) used in previous research ignore the large-scale stability control ability implied by whole-b...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/10/2971 |
| _version_ | 1797567151713812480 |
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| author | Xuanyang Shi Junyao Gao Yizhou Lu Dingkui Tian Yi Liu |
| author_facet | Xuanyang Shi Junyao Gao Yizhou Lu Dingkui Tian Yi Liu |
| author_sort | Xuanyang Shi |
| collection | DOAJ |
| description | Biped robots are similar to human beings and have broad application prospects in the fields of family service, disaster rescue and military affairs. However, simplified models and fixed center of mass (COM) used in previous research ignore the large-scale stability control ability implied by whole-body motion. The present paper proposed a two-level controller based on a simplified model and whole-body dynamics. In high level, a model predictive control (MPC) controller is implemented to improve zero moment point (ZMP) control performance. In low level, a quadratic programming optimization method is adopted to realize trajectory tracking and stabilization with friction and joint constraints. The simulation shows that a 12-degree-of-freedom force-controlled biped robot model, adopting the method proposed in this paper, can recover from a 40 Nm disturbance when walking at 1.44 km/h without adjusting the foot placement, and can walk on an unknown 4 cm high stairs and a rotating slope with a maximum inclination of 10°. The method is also adopted to realize fast walking up to 6 km/h. |
| first_indexed | 2024-03-10T19:37:36Z |
| format | Article |
| id | doaj.art-53e907ec6b0d4f0b8ea149b288fc31e6 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T19:37:36Z |
| publishDate | 2020-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-53e907ec6b0d4f0b8ea149b288fc31e62023-11-20T01:34:09ZengMDPI AGSensors1424-82202020-05-012010297110.3390/s20102971Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped WalkingXuanyang Shi0Junyao Gao1Yizhou Lu2Dingkui Tian3Yi Liu4School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing 100081, ChinaBeijing Institute of Astronautical Systems Engineering, Beijing 100076, ChinaBiped robots are similar to human beings and have broad application prospects in the fields of family service, disaster rescue and military affairs. However, simplified models and fixed center of mass (COM) used in previous research ignore the large-scale stability control ability implied by whole-body motion. The present paper proposed a two-level controller based on a simplified model and whole-body dynamics. In high level, a model predictive control (MPC) controller is implemented to improve zero moment point (ZMP) control performance. In low level, a quadratic programming optimization method is adopted to realize trajectory tracking and stabilization with friction and joint constraints. The simulation shows that a 12-degree-of-freedom force-controlled biped robot model, adopting the method proposed in this paper, can recover from a 40 Nm disturbance when walking at 1.44 km/h without adjusting the foot placement, and can walk on an unknown 4 cm high stairs and a rotating slope with a maximum inclination of 10°. The method is also adopted to realize fast walking up to 6 km/h.https://www.mdpi.com/1424-8220/20/10/2971MPCwhole-body dynamicsquadratic optimizationdisturbance recovery |
| spellingShingle | Xuanyang Shi Junyao Gao Yizhou Lu Dingkui Tian Yi Liu Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking Sensors MPC whole-body dynamics quadratic optimization disturbance recovery |
| title | Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking |
| title_full | Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking |
| title_fullStr | Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking |
| title_full_unstemmed | Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking |
| title_short | Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking |
| title_sort | simulation of disturbance recovery based on mpc and whole body dynamics control of biped walking |
| topic | MPC whole-body dynamics quadratic optimization disturbance recovery |
| url | https://www.mdpi.com/1424-8220/20/10/2971 |
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