Title:
OMNIDIRECTIONAL WHEELED HUMANOID ROBOT BASED ON A LINEAR PREDICTIVE POSITION AND VELOCITY CONTROLLER
Document Type and Number:
WIPO Patent Application WO/2015/158884
Kind Code:
A3
Abstract:
The object of the invention is a humanoid robot (100) with a body (190) joined to an omnidirectional mobile ground base (140), and equipped with: - a body position sensor and a base position sensor to provide measures, - actuators (212) comprising at least 3 wheels (141) located in the omnidirectional mobile base, - extractors (211) for converting the measures into useful data, - a controller to calculate position, velocity and acceleration commands from the useful data using a robot model and pre-ordered position and velocity references, - means for converting the commands into instructions for the actuators, characterized in that the robot model is a double point-mass model, and in that the commands are based on a linear model predictive control law with a discretized time according to a sampling time period and a number of predicted samples, and expressed as a quadratic optimization formulation with: - a weighted sum of objectives, - a set of predefined linear constraints.
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Inventors:
LAFAYE JORY (FR)
GOUAILLIER DAVID (FR)
WIEBER PIERRE-BRICE (FR)
GOUAILLIER DAVID (FR)
WIEBER PIERRE-BRICE (FR)
Application Number:
PCT/EP2015/058367
Publication Date:
December 10, 2015
Filing Date:
April 17, 2015
Export Citation:
Assignee:
ALDEBARAN ROBOTICS (FR)
INST NAT RECH INF AUTOMAT (FR)
INST NAT RECH INF AUTOMAT (FR)
International Classes:
B25J5/00; B25J9/16
Other References:
MINGEUK KIM ET AL: "Stabilization of a rapid four-wheeled mobile platform using the ZMP stabilization method", ADVANCED INTELLIGENT MECHATRONICS (AIM), 2010 IEEE/ASME INTERNATIONAL CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, 6 July 2010 (2010-07-06), pages 317 - 322, XP031855813, ISBN: 978-1-4244-8031-9
MILLS A ET AL: "Nonlinear model predictive control of an inverted pendulum", AMERICAN CONTROL CONFERENCE, 2009. ACC '09, IEEE, PISCATAWAY, NJ, USA, 10 June 2009 (2009-06-10), pages 2335 - 2340, XP031486943, ISBN: 978-1-4244-4523-3
BESSONNET G ET AL: "Forces Acting on a Biped Robot. Center of Pressure-Zero Moment Point", IEEE TRANSACTIONS ON SYSTEMS, MAN AND CYBERNETICS. PART A:SYSTEMS AND HUMANS, IEEE SERVICE CENTER, PISCATAWAY, NJ, US, vol. 34, no. 5, 1 September 2004 (2004-09-01), pages 630 - 637, XP011116663, ISSN: 1083-4427, DOI: 10.1109/TSMCA.2004.832811
TECK CHEW WEE: "Mechanical design and optimal control of humanoid robot (TPinokio)", THE JOURNAL OF ENGINEERING, 10 April 2014 (2014-04-10), XP055152461, DOI: 10.1049/joe.2013.0256
YANJIE LI ET AL: "Dynamic Stability Analyses Based on ZMP of a Wheel-based Humanoid Robot", ROBOTICS AND BIOMIMETICS, 2006. ROBIO '06. IEEE INTERNATIONAL CON FERENCE ON, IEEE, PI, 1 December 2006 (2006-12-01), pages 1565 - 1570, XP031069020, ISBN: 978-1-4244-0570-1
MILLS A ET AL: "Nonlinear model predictive control of an inverted pendulum", AMERICAN CONTROL CONFERENCE, 2009. ACC '09, IEEE, PISCATAWAY, NJ, USA, 10 June 2009 (2009-06-10), pages 2335 - 2340, XP031486943, ISBN: 978-1-4244-4523-3
BESSONNET G ET AL: "Forces Acting on a Biped Robot. Center of Pressure-Zero Moment Point", IEEE TRANSACTIONS ON SYSTEMS, MAN AND CYBERNETICS. PART A:SYSTEMS AND HUMANS, IEEE SERVICE CENTER, PISCATAWAY, NJ, US, vol. 34, no. 5, 1 September 2004 (2004-09-01), pages 630 - 637, XP011116663, ISSN: 1083-4427, DOI: 10.1109/TSMCA.2004.832811
TECK CHEW WEE: "Mechanical design and optimal control of humanoid robot (TPinokio)", THE JOURNAL OF ENGINEERING, 10 April 2014 (2014-04-10), XP055152461, DOI: 10.1049/joe.2013.0256
YANJIE LI ET AL: "Dynamic Stability Analyses Based on ZMP of a Wheel-based Humanoid Robot", ROBOTICS AND BIOMIMETICS, 2006. ROBIO '06. IEEE INTERNATIONAL CON FERENCE ON, IEEE, PI, 1 December 2006 (2006-12-01), pages 1565 - 1570, XP031069020, ISBN: 978-1-4244-0570-1
Attorney, Agent or Firm:
HENRIOT, Marie-Pierre et al. (22 avenue Aristide Briand, Arcueil Cedex, FR)
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