First-exit model predictive control of fast discontinuous dynamics: Application to ball bouncing
We extend model-predictive control so as to make it applicable to robotic tasks such as legged locomotion, hand manipulation and ball bouncing. The online optimal control problem is defined in a first-exit rather than the usual finitehorizon setting. The exit manifold corresponds to changes in contact state. In this way the need for online optimization through dynamic discontinuities is avoided. Instead the effects of discontinuities are incorporated in a final cost which is tuned offline. The new method is demonstrated on the task of 3D ball bouncing. Even though our robot is mechanically limited, it bounces one ball robustly and recovers from a wide range of disturbances, and can also bounce two balls with the same paddle. This is possible due to intelligent responses computed online, without relying on pre-existing plans.
Paul Kulchenko Emanuel Todorov
Department of Computer Science & Engineering,University of Washington Departments of Applied Mathematics and Computer Science & Engineering,University of Washington
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2144-2151
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）