Anzeige
Erschienen in:
2016 | OriginalPaper | Buchkapitel
Energy Efficient MPC for Biped Semi-passive Locomotion
verfasst von : C. Neves, R. Ventura
Erschienen in: Robot 2015: Second Iberian Robotics Conference
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
Traditional methods for robotic biped locomotion employing stiff actuation display low energy efficiency and high sensitivity to disturbances. In order to overcome these problems, a semi-passive approach based on the use of passive elements together with actuation has emerged, inspired by biological locomotion. However, the control strategy for such a compliant system must be robust and adaptable, while ensuring the success of the walking gait. In this paper, a Model Predictive Control (MPC) approach is applied to a simulated actuated Simplest Walker (SW), in order to achieve a stable gait while minimizing energy consumption. Robustness to slope change and to external disturbances are also studied.