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Movement Generation and Control Conference Paper 2018

A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations

Thumb ticker sm majid khadiv
Empirical Inference
Majid Khadiv

In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the Center of Mass (CoM) and external contact forces consistent with a given task. The optimization problem is comprised of three stages, i. e. the CoM vertical motion, joint angles and contact forces planning. The choice of external contact (e. g. hand contact with the object or environment) among all available locations and the appropriate time to reach and maintain a contact are all computed automatically within the algorithm. The presented algorithm benefits from the simplicity of the Linear Inverted Pendulum Model (LIPM), while it overcomes the common limitations of this model and enables us to generate a variety of whole body motions through external contacts. Simulation and experimental implementation of several whole body actions in multi-contact scenarios on a humanoid robot show the capability of the proposed algorithm.

Author(s): Reihaneh Mirjalili and Aghil Yousefi-koma and Farzad A. Shirazi and Arman Nikkhah and Fatemeh Nazemi and Majid Khadiv
Book Title: Proceedings International Conference on Humanoid Robots
Year: 2018
Month: November
Day: 6-9
Publisher: IEEE
Bibtex Type: Conference Paper (conference)
Address: Beijing, China
DOI: 10.1109/HUMANOIDS.2018.8624963
Event Name: 2018 IEEE-RAS International Conference on Humanoid Robots
Event Place: Beijing, China
State: Published
URL: https://ieeexplore.ieee.org/document/8624963/figures#figures
Digital: True
Electronic Archiving: grant_archive

BibTex 

@conference{mirjalili2018whole,
  title = {A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations},
  booktitle = {Proceedings International Conference on Humanoid Robots},
  abstract = {In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the Center of Mass (CoM) and external contact forces consistent with a given task. The optimization problem is comprised of three stages, i. e. the CoM vertical motion, joint angles and contact forces planning. The choice of external contact (e. g. hand contact with the object or environment) among all available locations and the appropriate time to reach and maintain a contact are all computed automatically within the algorithm. The presented algorithm benefits from the simplicity of the Linear Inverted Pendulum Model (LIPM), while it overcomes the common limitations of this model and enables us to generate a variety of whole body motions through external contacts. Simulation and experimental implementation of several whole body actions in multi-contact scenarios on a humanoid robot show the capability of the proposed algorithm.},
  publisher = {IEEE},
  address = {Beijing, China},
  month = nov,
  year = {2018},
  slug = {mirjalili2018whole},
  author = {Mirjalili, Reihaneh and Yousefi-koma, Aghil and Shirazi, Farzad A. and Nikkhah, Arman and Nazemi, Fatemeh and Khadiv, Majid},
  url = {https://ieeexplore.ieee.org/document/8624963/figures#figures},
  month_numeric = {11}
}