Work

A Newton method with always feasible iterates for Nonlinear Model Predictive Control of walking in a multi-contact situation

Year: 2016

Type: conference-paper

Abstract: In this paper, we present a Nonlinear Model Predictive Control scheme, which is able to generate walking motions in multi-contact situations. Walking up and down stairs with an additional hand support is a typical example, which we address in simulation. Computing such a nonlinear control scheme is usually done with a Newton method, a potentially time-consuming procedure involving iterative linearizations. We propose here a Newton method which is specifically designed to provide at each iteration a feasible solution, always satisfying the (nonlinear) dynamic balance constraints. This results in a significant reduction in computation time, by minimizing the number of necessary iterations to reach a feasible solution.

Source: IEEE-RAS International Conference on Humanoid Robots (Humanoids)

DOI: 10.1109/humanoids.2016.7803384

Authors: Diana Serra, Camille Brasseur, Alexander Sherikov, Dimitar Dimitrov, Pierre-Brice Wieber

Institutions: University of Naples Federico II, Institut national de recherche en sciences et technologies du numérique, Centre Inria de l'Université Grenoble Alpes

Language: English

Topic: Advanced Control Systems Optimization

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W2569909268

FWCI: 7.907

Cites: 21

Cited by: 22

Related to: 10