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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3 Citations
Background Citations
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3 Citations

Predictive Whole-Body Control of Humanoid Robot Locomotion
TLDR
This thesis tackles several aspects of the humanoid robot locomotion problem in a crescendo of complexity, and considers the single step push recovery problem, and generates and stabilize walking motions.
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach
TLDR
A planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model, modeled explicitly through a novel contact parametrization is described.
Kinetic Energy Attenuation Method for Posture Balance Control of Humanoid Biped Robot under Impact Disturbance
  • Liyang Gao, Weiguo Wu
  • Engineering
    IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
  • 2018
TLDR
The results demonstrate that, the proposed posture balance control method makes better use of the robot joint motion to attenuate the robot's kinetic energy.

References

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This paper proposes and implements a control strategy based on the Capture Point concept and generates references for the momentum-based torque controller already implemented on the iCub, thus extending its capabilities to react to external disturbances, while retaining the advantages of torque control when interacting with the environment.
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TLDR
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