Adaptive CLF-MPC With Application to Quadrupedal Robots

Modern robotic systems are endowed with superior mobility and mechanical skills that make them suited to be employed in real-world scenarios, where interactions with heavy objects and precise manipulation capabilities are required. For instance, legged robots with high payload capacity can be used i...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2022-01, Vol.7 (1), p.565-572
Main Authors: Minniti, Maria Vittoria, Grandia, Ruben, Farshidian, Farbod, Hutter, Marco
Format: Article
Language:English
Subjects:
Adaptation models
Adaptive control
Algorithms
Control stability
Legged robots
Liapunov functions
Lyapunov methods
optimization and optimal control
Payloads
Predictive control
Robot control
Robot dynamics
Robots
robust/adaptive control
Stability criteria
Task complexity
Trajectory optimization
Uncertainty
Unknown environments
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Summary:Modern robotic systems are endowed with superior mobility and mechanical skills that make them suited to be employed in real-world scenarios, where interactions with heavy objects and precise manipulation capabilities are required. For instance, legged robots with high payload capacity can be used in disaster scenarios to remove dangerous material or carry injured people. It is thus essential to develop planning algorithms that can enable complex robots to perform motion and manipulation tasks accurately. In addition, online adaptation mechanisms with respect to new, unknown environments are needed. In this work, we impose that the optimal state-input trajectories generated by Model Predictive Control (MPC) satisfy the Lyapunov function criterion derived in adaptive control for robotic systems. As a result, we combine the stability guarantees provided by Control Lyapunov Functions (CLFs) and the optimality offered by MPC in a unified adaptive framework, yielding an improved performance during the robot's interaction with unknown objects. We validate the proposed approach in simulation and hardware tests on a quadrupedal robot carrying un-modeled payloads and pulling heavy boxes.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2021.3128697