4 accepted papers
In most MPC-based schemes used for humanoid gait generation, simple Quadratic Programming (QP) problems are considered for real-time implementation. Since these only allow for convex constraints, the generated gait may be conservative. In this paper we focus on the non-convex reachable region of the…
We present a whole-body control architecture for the generation of stable task-oriented motions in Wheeled Inverted Pendulum (WIP) robots. Controlling WIP systems is challenging because the successful execution of tasks is subordinate to the ability to maintain balance. Our feedback control approach…
The feasibility region of a Model Predictive Control (MPC) algorithm is the subset of the state space in which the constrained optimization problem to be solved is feasible. In our recent Intrinsically Stable MPC (IS-MPC) method for humanoid gait generation, feasibility means being able to satisfy t
We present an extension of our previously proposed IS-MPC method for humanoid gait generation aimed at obtaining robust performance in the presence of disturbances. The considered disturbance signals vary in a range of known amplitude around a mid-range value that can change at each sampling time, b…