A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot
@article{Dafarra2017ARH, title={A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot}, author={Stefano Dafarra and Francesco Romano and Francesco Nori}, journal={ArXiv}, year={2017}, volume={abs/1705.10638} }
Balancing and reacting to strong and unexpected pushes is a critical requirement for humanoid robots. We recently designed a capture point based approach which interfaces with a momentum-based torque controller and we implemented and validated it on the iCub humanoid robot. In this work we implement a Receding Horizon control, also known as Model Predictive Control, to add the possibility to predict the future evolution of the robot, especially the constraints switching given by the hybrid…
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