Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels

@article{Lafaye2014LinearMP,
  title={Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels},
  author={Jory Lafaye and David Gouaillier and Pierre-Brice Wieber},
  journal={2014 IEEE-RAS International Conference on Humanoid Robots},
  year={2014},
  pages={336-341}
}
The goal of this paper is to present a new real-time controller based on linear model predictive control for an omnidirectionnal wheeled humanoid robot. It is able to control both the mobile base of the robot and its body, while taking into account dynamical constraints. It makes it possible to have high velocity and acceleration motions by predicting the dynamic behavior of the robot in the future. Experimental results are proposed on the robot Pepper made by Aldebaran, showing good… CONTINUE READING
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