Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization
In this paper we consider the problem of allowing a humanoid robot that is subject to a persistent disturbance, in the form of a payload-carrying task, to follow given planned footsteps. To solve this problem, we combine an online nonlinear centroidal Model Predictive Controller - MPC with a contact...
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| creator | Elobaid, Mohamed Romualdi, Giulio Nava, Gabriele Rapetti, Lorenzo Mohamed, Hosameldin Awadalla Omer Pucci, Daniele |
| description | In this paper we consider the problem of allowing a humanoid robot that is
subject to a persistent disturbance, in the form of a payload-carrying task, to
follow given planned footsteps. To solve this problem, we combine an online
nonlinear centroidal Model Predictive Controller - MPC with a contact stable
force parametrization. The cost function of the MPC is augmented with terms
handling the disturbance and regularizing the parameter. The performance of the
resulting controller is validated both in simulations and on the humanoid robot
iCub. Finally, the effect of using the parametrization on the computational
time of the controller is briefly studied. |
| doi_str_mv | 10.48550/arxiv.2305.10917 |
| format | Article |
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subject to a persistent disturbance, in the form of a payload-carrying task, to
follow given planned footsteps. To solve this problem, we combine an online
nonlinear centroidal Model Predictive Controller - MPC with a contact stable
force parametrization. The cost function of the MPC is augmented with terms
handling the disturbance and regularizing the parameter. The performance of the
resulting controller is validated both in simulations and on the humanoid robot
iCub. Finally, the effect of using the parametrization on the computational
time of the controller is briefly studied.</description><identifier>DOI: 10.48550/arxiv.2305.10917</identifier><language>eng</language><subject>Computer Science - Robotics</subject><creationdate>2023-05</creationdate><rights>http://creativecommons.org/licenses/by/4.0</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>228,230,780,885</link.rule.ids><linktorsrc>$$Uhttps://arxiv.org/abs/2305.10917$$EView_record_in_Cornell_University$$FView_record_in_$$GCornell_University$$Hfree_for_read</linktorsrc><backlink>$$Uhttps://doi.org/10.48550/arXiv.2305.10917$$DView paper in arXiv$$Hfree_for_read</backlink></links><search><creatorcontrib>Elobaid, Mohamed</creatorcontrib><creatorcontrib>Romualdi, Giulio</creatorcontrib><creatorcontrib>Nava, Gabriele</creatorcontrib><creatorcontrib>Rapetti, Lorenzo</creatorcontrib><creatorcontrib>Mohamed, Hosameldin Awadalla Omer</creatorcontrib><creatorcontrib>Pucci, Daniele</creatorcontrib><title>Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization</title><description>In this paper we consider the problem of allowing a humanoid robot that is
subject to a persistent disturbance, in the form of a payload-carrying task, to
follow given planned footsteps. To solve this problem, we combine an online
nonlinear centroidal Model Predictive Controller - MPC with a contact stable
force parametrization. The cost function of the MPC is augmented with terms
handling the disturbance and regularizing the parameter. The performance of the
resulting controller is validated both in simulations and on the humanoid robot
iCub. Finally, the effect of using the parametrization on the computational
time of the controller is briefly studied.</description><subject>Computer Science - Robotics</subject><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2023</creationdate><recordtype>article</recordtype><sourceid>GOX</sourceid><recordid>eNotj8tOwzAURL1hgQofwAr_QIIfcewskUUpUqEVdB9dPwKWEhu55hG-nrawmtHoaKSD0BUldaOEIDeQv8NnzTgRNSUdlecobeIYosdPKVbHAhlrH0tOwcGIH7caDynj1ccE8TDh52RS2eMtzGMChzXkPIf4ir9CecM6xQK2VC8FzOjxMmXrD2iGyZccfqCEFC_Q2QDj3l_-5wLtlnc7varWm_sHfbuuoJWyUlxZZaUkjkkQrZKdpJ30zDSDUCCUa7mhljDJmBrANZYK3hnvGCPWtZbxBbr-uz0Z9-85TJDn_mjen8z5LwbaVEY</recordid><startdate>20230518</startdate><enddate>20230518</enddate><creator>Elobaid, Mohamed</creator><creator>Romualdi, Giulio</creator><creator>Nava, Gabriele</creator><creator>Rapetti, Lorenzo</creator><creator>Mohamed, Hosameldin Awadalla Omer</creator><creator>Pucci, Daniele</creator><scope>AKY</scope><scope>GOX</scope></search><sort><creationdate>20230518</creationdate><title>Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization</title><author>Elobaid, Mohamed ; Romualdi, Giulio ; Nava, Gabriele ; Rapetti, Lorenzo ; Mohamed, Hosameldin Awadalla Omer ; Pucci, Daniele</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-a677-838c8c770d27a568797197e2b4f58a58d63b1c027228fad4c1539bed220cd6c23</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2023</creationdate><topic>Computer Science - Robotics</topic><toplevel>online_resources</toplevel><creatorcontrib>Elobaid, Mohamed</creatorcontrib><creatorcontrib>Romualdi, Giulio</creatorcontrib><creatorcontrib>Nava, Gabriele</creatorcontrib><creatorcontrib>Rapetti, Lorenzo</creatorcontrib><creatorcontrib>Mohamed, Hosameldin Awadalla Omer</creatorcontrib><creatorcontrib>Pucci, Daniele</creatorcontrib><collection>arXiv Computer Science</collection><collection>arXiv.org</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Elobaid, Mohamed</au><au>Romualdi, Giulio</au><au>Nava, Gabriele</au><au>Rapetti, Lorenzo</au><au>Mohamed, Hosameldin Awadalla Omer</au><au>Pucci, Daniele</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization</atitle><date>2023-05-18</date><risdate>2023</risdate><abstract>In this paper we consider the problem of allowing a humanoid robot that is
subject to a persistent disturbance, in the form of a payload-carrying task, to
follow given planned footsteps. To solve this problem, we combine an online
nonlinear centroidal Model Predictive Controller - MPC with a contact stable
force parametrization. The cost function of the MPC is augmented with terms
handling the disturbance and regularizing the parameter. The performance of the
resulting controller is validated both in simulations and on the humanoid robot
iCub. Finally, the effect of using the parametrization on the computational
time of the controller is briefly studied.</abstract><doi>10.48550/arxiv.2305.10917</doi><oa>free_for_read</oa></addata></record> |
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| subjects | Computer Science - Robotics |
| title | Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization |
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