4 accepted papers
Recent strides in model predictive control (MPC) underscore a dependence on numerical advancements to efficiently and accurately solve large-scale problems. Given the substantial number of variables characterizing typical whole-body optimal control problems —often numbering in the thousands— exploit…
The lack of computational power on mobile robots is a well-known challenge when it comes to implementing a real-time MPC scheme to perform complex motions. Currently the best solvers are barely able to reach 100 Hz for computing the control of a whole-body legged model, while modern robots are expec
In the literature about model predictive control (MPC), contact forces are planned rather than controlled. In this paper, we propose a novel paradigm to incorporate effort measurements into a predictive controller, hence allowing to control them by direct measurement feedback. We first demonstrate w…
This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balance in front of strong external perturbations…