Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations

Sovukluk S., Ott C., ANKARALI M. M.

IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), Texas, United States Of America, 12 - 14 December 2023, (Full Text) identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/humanoids57100.2023.10375153
  • City: Texas
  • Country: United States Of America
  • Middle East Technical University Affiliated: Yes

Abstract

This study demonstrates a cascaded model predictive control (C-MPC) method for input constrained control of underactuated planar bipedal walking with any predefined stabilizable trajectory. Our approach aims to increase the trajectory tracking performance of the system and produce realistic and applicable responses while respecting friction constraints and considering impact dynamics. Primarily focusing on zero dynamics with PD (ZD+PD) control, this proposed control method constitutes a second layer controller on top of the well-known trajectory tracking controllers for underactuated bipedal walking systems. We successfully implement this model-based controller and test against large modeling errors, noises, and disturbances, where the conventional ZD+PD control fails to maintain stability.