Landing Control of Acrobat Robot by RHC -Experimental Evaluation

Author

Rokusho, T. ; Lee, J. ; Yamakita, M. ; Hirano, S. ; Luo, Z.W.

Author_Institution

Dept. of Mech. & Control Eng., Tokyo Inst. of Technol.

fYear

2006

Firstpage

4808

Lastpage

4813

Abstract

In this paper, a nonlinear model predictive control (MPC) scheme for constrained mechanical systems with state discontinuity, or state jump, is considered, and a control method which extends a fast numerical algorithm based on continuation and GMRES methods, allowing online implementation for mechanical systems possible, is applied for. The validity of the strategy is demonstrated by a landing control for an acrobat robot based on a commercially available humanoid robot, KHR-1, where a general purpose compact computer system named C-CHIP developed at BMC is installed in the system

Keywords

PD control; humanoid robots; nonlinear control systems; predictive control; time-varying systems; C-CHIP computer system; GMRES method; acrobat robot; humanoid robot; landing control; mechanical system; nonlinear model predictive control; Chemical technology; Control systems; Humanoid robots; Mechanical systems; Nonlinear control systems; Open loop systems; Optimal control; Predictive control; Predictive models; Robot control; C/GMRES; KHR-1; RHC;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.314973

Filename

4108530