Bifurcation gait suppression of a bipedal walking robot with a torso based on model predictive control

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• 作者：Ka DengAuthor Vitae ; Mingguo Zhao ; ^{mgzhao@mail.tsinghua.edu.cn}Author Vitae ; Wenli XuAuthor Vitae
• 关键词：Bipedal walking robot ; Bifurcation gait suppression ; Model predictive control ; Parameter perturbation ; Poincaré ; map
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：89
• 期：Complete
• 页码：27-39
• 全文大小：1622 K
• 卷排序：89

文摘

A new bifurcation gait suppression method based on the idea of MPC is proposed. The new walking model is designed to allow a time window for on-line computation. The prediction model is obtained using the time-piecewise linearization technique. The bifurcation gait is suppressed to the target period-1 gait with high performance. Compared to OGY, our method leads to a larger BoA, i.e. better disturbance rejection.