It is common knowledge that tractor-trailer vehicles are affected by jackknifing, a phenomenon that consists in the divergence of the trailer hitch angle and ultimately causes the vehicle to fold up. For the case of backwards motion, in which jackknifing can also occur at low speeds, we present a...
Model Predictive Control of Robots
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In this article, we present an intrinsically stable Model Predictive Control (IS-MPC) framework for humanoid gait generation that incorporates a stability constraint in the formulation. The method uses as prediction model a dynamically extended Linear Inverted Pendulum with Zero Moment Point (ZMP)...
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By exploiting an a priori estimate of the dynamic model of a manipulator, it is possible to command joint torques which ideally realize a Feedback Linearization (FL) controller. The exact cancellation may nevertheless not be achieved due to model uncertainties and possible errors in the estimation...
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In this article, we present an intrinsically stable Model Predictive Control (IS-MPC) framework for humanoid gait generation that incorporates a stability constraint in the formulation. The method uses as prediction model a dynamically extended Linear Inverted Pendulum with Zero Moment Point (ZMP)...
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From a control point of view, humanoid gait generation can be seen as a problem of tracking a suitable ZMP trajectory while guaranteeing internal stability. In the presence of disturbances, both these aspects are at risk, and a fall may ultimately occur. In this paper, we extend our previously...
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We consider the known phenomenon of torque oscillations and motion instabilities that occur in redundant robots during the execution of sufficiently long Cartesian trajectories when the joint torque is instantaneously minimized. In the framework of online local redundancy resolution methods, we...