CDC 2021 Presentation - Force-and-moment-based MPC for Highly Dynamic Bipedal Robots
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- Опубліковано 31 тра 2024
- Paper: ieeexplore.ieee.org/document/...
Experiments are out! : • Introducing Hector - H...
Abstract:
In this paper, we propose a novel framework on force-and-moment-based Model Predictive Control (MPC) for dynamic legged robots. In specific, we present a formulation of MPC designed for 10 degree-of-freedom (DoF) bipedal robots using a simplified rigid body dynamics with input forces and moments. This MPC controller will calculate the optimal inputs applied to the robot, including 3-D forces and 2-D moments at each foot. These desired inputs will then be generated by mapping these forces and moments to motor torques of 5 actuators on each leg. We evaluate our proposed control design on physical simulation of a 10 degree-of-freedom (DoF) bipedal robot. The robot can achieve fast walking speed up to 1.6 m/s on rough terrain, with accurate velocity tracking. With the same control framework, our proposed approach can achieve a wide range of dynamic motions including walking, hopping, and running using the same set of control parameters.
Excellent presentation. Enjoyed it. Gives me ideas for my own bots!
Great work ! Does this implementation run in real time ?
Nicely executed 👏👏
what does under-actuation means for bipedal locomotion ?
Awesome! Have you tried to deploy this on a physical system?
how did you crete this simulations? I am new to this
Hi awesome. can I get your thesis if possible ?
No one else seeing AT walkers from star wars?
Probably coming sooner than we think, and for similar reasons
Does it actualky work though , do you have any actual code. Good presentation. Models are cool, matlab is trash, id like to see some code though.
open sourced in both ROS and Matlab: github.com/DRCL-USC/Hector_Simulation
@@drcl_usc checked it out, not that impressed tbh. The code isn't thst grand, it works. It's just incredibly simple and some/ a good bit of its generated code..., ( like you didn't write the architecture )
Good for a presentation in college, not for development tho.
Chicken Walkers
How to keep stable while walking?