Title:
OMNIDIRECTIONAL WHEELED HUMANOID ROBOT BASED ON A LINEAR PREDICTIVE POSITION AND VELOCITY CONTROLLER
Document Type and Number:
WIPO Patent Application WO/2015/158885
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), equipped with : - a body position sensor, a base position sensor and an angular velocity sensor to provide measures, - actuators (212) comprising at least 3 wheels located in the omnidirectional mobile base, - extractors (211) for converting sensored measures into useful data, - a supervisor (500) to calculate position, velocity and acceleration commands from the useful data, - means for converting commands into instructions for the actuators, characterized in that the supervisor comprises: - a no-tilt state controller (501), a tilt state controller (502) and a landing state controller (503), each controller comprising means for calculating, position, velocity and acceleration commands based on a double point-mass robot model with tilt motion and on a linear model predictive control law, expressed as a quadratic optimization formulation with a weighted sum of objectives, and a set of predefined linear constraints.
Inventors:
LAFAYE JORY (FR)
COLLETTE CYRILLE (FR)
WIEBER PIERRE-BRICE (FR)
COLLETTE CYRILLE (FR)
WIEBER PIERRE-BRICE (FR)
Application Number:
PCT/EP2015/058370
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:
B25J9/16; B25J5/00
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
MOHAMMAD MAHDI AZIMI ET AL: "Model predictive control for a two wheeled self balancing robot", ROBOTICS AND MECHATRONICS (ICROM), 2013 FIRST RSI/ISM INTERNATIONAL CONFERENCE ON, IEEE, 13 February 2013 (2013-02-13), pages 152 - 157, XP032390542, ISBN: 978-1-4673-5809-5, DOI: 10.1109/ICROM.2013.6510097
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
FUKUSHIMA H ET AL: "Transformation Control to an Inverted Pendulum for a Mobile Robot With Wheel-Arms Using Partial Linearization and Polytopic Model Set", IEEE TRANSACTIONS ON ROBOTICS, IEEE SERVICE CENTER, PISCATAWAY, NJ, US, vol. 29, no. 3, 1 June 2013 (2013-06-01), pages 774 - 783, XP011516629, ISSN: 1552-3098, DOI: 10.1109/TRO.2013.2239555
MOHAMMAD MAHDI AZIMI ET AL: "Model predictive control for a two wheeled self balancing robot", ROBOTICS AND MECHATRONICS (ICROM), 2013 FIRST RSI/ISM INTERNATIONAL CONFERENCE ON, IEEE, 13 February 2013 (2013-02-13), pages 152 - 157, XP032390542, ISBN: 978-1-4673-5809-5, DOI: 10.1109/ICROM.2013.6510097
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
FUKUSHIMA H ET AL: "Transformation Control to an Inverted Pendulum for a Mobile Robot With Wheel-Arms Using Partial Linearization and Polytopic Model Set", IEEE TRANSACTIONS ON ROBOTICS, IEEE SERVICE CENTER, PISCATAWAY, NJ, US, vol. 29, no. 3, 1 June 2013 (2013-06-01), pages 774 - 783, XP011516629, ISSN: 1552-3098, DOI: 10.1109/TRO.2013.2239555
Attorney, Agent or Firm:
HENRIOT, Marie-Pierre et al. (22 avenue Aristide Briand, ARCUEIL Cedex, FR)
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