An MPC Walking Framework with External Contact Forces

Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this work, we present an extension to a linear Model Predictive Control (MPC) scheme that plans external contact forces for the robot when given multiple contact locations and their corresponding friction cone. To this end, we set up a two-step optimization problem. In the first optimization, we compute the Center of Mass (CoM) trajectory, foot step locations, and introduce slack variables to account for violating the imposed constraints on the Zero Moment Point (ZMP). We then use the slack variables to trigger the second optimization, in which we calculate the optimal external force that compensates for the ZMP tracking error. This optimization considers multiple contacts positions within the environment by formulating the problem as a Mixed Integer Quadratic Program (MIQP) that can be solved at a speed between 100-300 Hz. Once contact is created, the MIQP reduces to a single Quadratic Program (QP) that can be solved in real-time (< 1kHz). Simulations show that the presented walking control scheme can withstand disturbances 2-3x larger with the additional force provided by a hand contact.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1785-1790
Number of pages6
ISBN (Electronic)9781538630815
DOIs
StatePublished - Sep 10 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
CountryAustralia
CityBrisbane
Period5/21/185/25/18

Fingerprint

Model predictive control
Cones
Trajectories
Robots
Friction

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Mason, S., Rotella, N., Schaal, S., & Righetti, L. (2018). An MPC Walking Framework with External Contact Forces. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 1785-1790). [8461236] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8461236

An MPC Walking Framework with External Contact Forces. / Mason, Sean; Rotella, Nicholas; Schaal, Stefan; Righetti, Ludovic.

2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1785-1790 8461236 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mason, S, Rotella, N, Schaal, S & Righetti, L 2018, An MPC Walking Framework with External Contact Forces. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8461236, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 1785-1790, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 5/21/18. https://doi.org/10.1109/ICRA.2018.8461236
Mason S, Rotella N, Schaal S, Righetti L. An MPC Walking Framework with External Contact Forces. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1785-1790. 8461236. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2018.8461236
Mason, Sean ; Rotella, Nicholas ; Schaal, Stefan ; Righetti, Ludovic. / An MPC Walking Framework with External Contact Forces. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1785-1790 (Proceedings - IEEE International Conference on Robotics and Automation).
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