CDC 2021 Presentation - Force-and-moment-based MPC for Highly Dynamic Bipedal Robots

Paper: ieeexplore.ieee.org/document/...
Experiments are out! : • Introducing Hector - H...
Abstract:
In this paper, we propose a novel framework on force-and-moment-based Model Predictive Control (MPC) for dynamic legged robots. In specific, we present a formulation of MPC designed for 10 degree-of-freedom (DoF) bipedal robots using a simplified rigid body dynamics with input forces and moments. This MPC controller will calculate the optimal inputs applied to the robot, including 3-D forces and 2-D moments at each foot. These desired inputs will then be generated by mapping these forces and moments to motor torques of 5 actuators on each leg. We evaluate our proposed control design on physical simulation of a 10 degree-of-freedom (DoF) bipedal robot. The robot can achieve fast walking speed up to 1.6 m/s on rough terrain, with accurate velocity tracking. With the same control framework, our proposed approach can achieve a wide range of dynamic motions including walking, hopping, and running using the same set of control parameters.

[@TheHeyDood]

Excellent presentation. Enjoyed it. Gives me ideas for my own bots!

[@AvinashBhashkar]

Nicely executed 👏👏

[@quentinmunch3700]

Great work ! Does this implementation run in real time ?

[@christophera.7547]

Awesome! Have you tried to deploy this on a physical system?

[@dobariyanaitikdineshbhai6832]

how did you crete this simulations? I am new to this

[@Pizzaaa20008]

what does under-actuation means for bipedal locomotion ?

[@kishorsahu9093]

Hi awesome. can I get your thesis if possible ?

[@huntansandwich]

No one else seeing AT walkers from star wars?

[@Encolas]

Probably coming sooner than we think, and for similar reasons

[@justadog8248]

Chicken Walkers

[@RoboArc]

Does it actualky work though , do you have any actual code. Good presentation. Models are cool, matlab is trash, id like to see some code though.

[@drcl_usc]

open sourced in both ROS and Matlab: github.com/DRCL-USC/Hector_Simulation

[@RoboArc]

@@drcl_usc checked it out, not that impressed tbh. The code isn't thst grand, it works. It's just incredibly simple and some/ a good bit of its generated code..., ( like you didn't write the architecture )
Good for a presentation in college, not for development tho.

[@gsjjhda2483]

How to keep stable while walking?

[@did3d523]