Maintaining balance while walking is not a simple task for a humanoid robot because of its complex dynamics. The presence of a persistent disturbance makes this task even more challenging, as it can cause a loss of balance and ultimately lead the the robot to a fall. In this paper, we extend our previously proposed Intrinsically Stable MPC (IS-MPC), which guarantees boundedness of the CoM with respect to the ZMP, to the case of persistent disturbances. This is achieved by designing a disturbance observer whose estimate is used to compute a modified stability constraint included in the QP problem formulation. The method is validated by MATLAB simulations for the LIP as well as dynamic simulations for a NAO humanoid in DART.
@article{arxiv.1907.06029,
title = {Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances},
author = {Filippo M. Smaldone and Nicola Scianca and Valerio Modugno and Leonardo Lanari and Giuseppe Oriolo},
journal= {arXiv preprint arXiv:1907.06029},
year = {2019}
}
Comments
7 pages, 10 figures, submitted to 2019 IEEE-RAS International Conference on Humanoid Robots