ICRA 2015poster21 citations
Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot
Jory Lafaye, Cyrille Collette, Pierre-Brice Wieber
Abstract
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.
BibTeX
@inproceedings{icra2015_modelpredictivec,
title = {Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot},
author = {Jory Lafaye and Cyrille Collette and Pierre-Brice Wieber},
booktitle = {ICRA 2015},
year = {2015}
}