Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot - BIPOP Access content directly
Conference Papers Year : 2015

Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot

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.
Fichier principal
Vignette du fichier
Lafaye2015ICRA-Final.pdf (434.38 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-02487657 , version 1 (21-02-2020)

Identifiers

Cite

Jory Lafaye, Cyrille Collette, Pierre-Brice Wieber. Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot. IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, United States. pp.5134-5139, ⟨10.1109/ICRA.2015.7139914⟩. ⟨hal-02487657⟩
50 View
145 Download

Altmetric

Share

Gmail Facebook X LinkedIn More