Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos
Ewen Dantec Rohan Budhiraja Adria Roig Teguh Lembono Guilhem Saurel Olivier Stasse Pierre Fernbach Steve Tonneau Sethu Vijayakumar Sylvain Calinon Michel Taix Nicolas Mansard Ewen Dantec Rohan Budhiraja Adria Roig Teguh Lembono Guilhem Saurel Olivier Stasse Pierre Fernbach Steve Tonneau Sethu Vijayakumar Sylvain Calinon Michel Taix Nicolas Mansard
This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balance in front of strong external perturbations and avoid collision with an external object. The key elements for this success are threefold. First,...