Skip to Main content Skip to Navigation
Conference papers

Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels

Jory Lafaye 1 David Gouaillier 1 Pierre-Brice Wieber 2
2 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
Abstract : The goal of this paper is to present a new real-time controller based on linear model predictive control for an omnidirectionnal wheeled humanoid robot. It is able to control both the mobile base of the robot and its body, while taking into account dynamical constraints. It makes it possible to have high velocity and acceleration motions by predicting the dynamic behavior of the robot in the future. Experimental results are proposed on the robot Pepper made by Aldebaran Robotics, showing good performance in terms of robustness and tracking control, efficiently managing kinematic and dynamical constraints.
Document type :
Conference papers
Complete list of metadatas

Cited literature [17 references]  Display  Hide  Download

https://hal.inria.fr/hal-02487653
Contributor : Pierre-Brice Wieber <>
Submitted on : Friday, February 21, 2020 - 5:45:29 PM
Last modification on : Thursday, November 19, 2020 - 1:00:32 PM
Long-term archiving on: : Friday, May 22, 2020 - 5:44:52 PM

File

Lafaye2014ICHR.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Jory Lafaye, David Gouaillier, Pierre-Brice Wieber. Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels. IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2014, Madrid, Spain. pp.336-341, ⟨10.1109/HUMANOIDS.2014.7041381⟩. ⟨hal-02487653⟩

Share

Metrics

Record views

74

Files downloads

321