Landing Control of Acrobat Robot by RHC -Experimental Evaluation

摘要

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