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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.
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https://hal.inria.fr/hal-02487657
Contributor : Pierre-Brice Wieber <>
Submitted on : Friday, February 21, 2020 - 5:49:28 PM
Last modification on : Tuesday, February 25, 2020 - 1:22:19 AM
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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⟩

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