A5053599061- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Adaptive Control of Nonlinear Systems
- Dynamics and Control of Mechanical Systems
- Advanced Control Systems Optimization
- Control and Stability of Dynamical Systems
- Robotic Mechanisms and Dynamics
- Iterative Learning Control Systems
- Real-time simulation and control systems
- Robot Manipulation and Learning
- Stability and Control of Uncertain Systems
- Neurogenetic and Muscular Disorders Research
- Control and Dynamics of Mobile Robots
- Robotic Path Planning Algorithms
- Vehicle Dynamics and Control Systems
- Stability and Controllability of Differential Equations
- Muscle Physiology and Disorders
- Reinforcement Learning in Robotics
- Hydraulic and Pneumatic Systems
- Vibration and Dynamic Analysis
- Advanced Numerical Analysis Techniques
- Muscle activation and electromyography studies
- Fault Detection and Control Systems
- Guidance and Control Systems
- Petri Nets in System Modeling
Sapienza University of Rome
2015-2024
Institute of Electrical and Electronics Engineers
2019
Gorgias Press (United States)
2019
Vrije Universiteit Brussel
2019
Gestione Sistemi per l’Informatica (Italy)
1994-2002
Rensselaer Polytechnic Institute
1991-2002
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 dynamically extended Linear Inverted Pendulum with Zero Moment Point (ZMP) velocities control inputs, producing real time (including footsteps timing) realizes omnidirectional motion commands coming from external source. links future ZMP to current state so guarantee...
We report on the results of a collaborative project that investigated deployment humanoid robotic solutions in air-craft manufacturing for several assembly op erations where access by wheeled or railported platforms is not possible. Recent de velopments multicontact planning and control, bipedal walking, embedded simultaneous localization mapping (SLAM), whole-body multisensory task-space optimization contact detection safety suggest humanoids could be plausible solution automation, given...
The exact eigenfunctions for the slewing link of a robot are found, taking into account rotating inertia at base and payload tip. These derive from two equivalent formulations (pseudoclamped pseudopinned) boundary value problem relative to flexible beam. exactness solution makes it possible prove equivalence these approaches, which differ in choice noninertial frame. related dynamic linear models then change coordinates is given. Experimental measurements validate theoretical results.< <ETX...
Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with constrained height based on capture point. In this paper, we generalize to variable-height (VHIP) and show how it enables 3-D over uneven terrains inputs. Thanks a tailored optimization scheme, can compute these inputs fast enough for real-time predictive control. We implement approach as open-source software demonstrate in dynamic simulations.
We present a novel MPC method for humanoid gait generation that is guaranteed to produce stable CoM trajectories. This obtained by using dynamic extension of the LIP as motion model, with ZMP velocity control variable, and embedding an explicit stability constraint in formulation. Such turns out be linear variables, leading standard QP problem equality inequality constraints. The intrinsically framework developed into full-fledged scheme including automatic footstep placement. Simulations...
It is in general complex to consider the complete robot dynamics when planning trajectories for bipedal locomotion. We present an approach trajectory planning, with classical Linear Inverted Pendulum Model (LIPM), that takes explicit consideration of unstable dynamics. derive a relationship between initial state and control input ensures overall system will converge stable steady solution. This allows us exploit achieve goals, while imposing constraints on certain degrees freedom conditions....
The authors investigate the problem of how to achieve a cyclic joint behavior in redundant robots performing tasks, motivated by fact that most singularity-free local resolution methods produce nonrepeatable motions. A controllability analysis inverse kinematic system makes it possible recover well-known repeatability conditions T. Shamir and Y. Yomdin (1988), further conclude no null space velocity can be specified if repeatable scheme is sought, unless chosen as linear term end-effector...
Over the years, there have been many improvements in job-related safety standards and working conditions, but are still situations environments where human lives put at risk, such as search rescue situations, construction sites, chemical plants. We envision a world robots can act physical avatars effectively replace humans those hazardous scenarios through teleoperation.
A lightweight robot has been built with the aim of testing advanced control algorithms and demonstrating engineering feasibility flexible arm control. The is a planar two-link manipulator, revolute joints very forearm. description this laboratory facility given, including mechanical structure, actuators sensors, interface electronics. nonlinear dynamic model in which link deflection expressed terms orthonormal mode shapes associated eigenvalue problem. Simple are presented, composed...
This paper presents a Model Predictive Control (MPC) scheme capable of generating 3D gait for humanoid robot. The proposed method starts from an assigned sequence footsteps and generates online the trajectory both Zero Moment Point Center Mass. Starting moment balance (neglecting rotations) we derive model characterizing all trajectories that satisfy linear differential equation along three axes. Then solution is found by extending our previously intrinsically stable MPC, which employs...
Tractor-trailer vehicles are affected by jackknifing, a phenomenon that consists in the divergence of trailer hitch angle and ultimately causes vehicle to fold up. For case backward motions, which jackknifing can occur at any speed, we present control method drives along generic reference Cartesian trajectories while avoiding angle. This is obtained thanks feedback law combines two actions: tracking term, computed using input–output linearization, corrective generated via IS-MPC, an...
In order to guarantee precision and safety in robotic surgery, accurate models of the robot proper control strategies are needed. Bayesian Neural Networks (BNN) capable learning complex provide information about uncertainties learned system. Model Predictive Control (MPC) is a reliable strategy ensure optimality satisfaction constraints. this work we propose use BNN build highly nonlinear kinematic dynamic tendon-driven surgical robot, exploit epistemic by means Hierarchical MPC (Hi-MPC)...
In this work is considered the problem of rest-to-rest motion in a desired pre-fixed time for planar flexible manipulators. We introduce simple idea permitting minimization end-effector residual vibration when reaching angular equilibrium position, travelling time. The results hold without considering internal elastic damping effect, using classical controller with feedforward plus joint feedback terms. new approach concerns computation control, which based on backward integration dynamics,...
From a control point of view, humanoid gait generation can be seen as problem tracking suitable ZMP trajectory while guaranteeing internal stability. In the presence disturbances, both these aspects are at risk, and fall may ultimately occur. this paper, we extend our previously proposed Intrinsically Stable MPC (IS-MPC) method, which guarantees stable for unperturbed case, to case persistent disturbances. This is achieved by designing disturbance observer whose estimate used set up modified...
We present a real time algorithm for humanoid 3D walking and/or running based on Model Predictive Control (MPC) approach. The objective is to generate stable gait that replicates footstep plan as closely possible, is, sequence of candidate positions and orientations with associated timings. For each footstep, the also specifies an reference height Center Mass (CoM) whether robot should reach by or running. scheme makes use Variable-Height Inverted Pendulum (VH-IP) prediction model,...
Consider the problem of generating humanoid motions in an environment consisting horizontal patches located at different heights (world stairs). To this end, paper proposes integrated scheme which combines footstep planning and gait generation. In particular, footsteps are produced by a randomized algorithm that guarantees both feasibility quality plan according to chosen criterion; whereas for 3D generation we devise ad hoc extension Intrinsically Stable MPC scheme. its basic form, proposed...
In this paper we propose a method to perform manual guidance with humanoid robots. Manual is general model of physical interaction: here focus on guiding by its hands. The proposed technique can be, however, used also for joint object transportation and other tasks implying human-humanoid interaction. Using measure the Instantaneous Capture Point, develop an equilibrium-based interaction that does not require force/torque or vision sensors. It is, therefore, particularly suitable low-cost...
A linear-quadratic optimal control problem is considered for the infinite-dimensional model of a one-link flexible arm. Two boundary inputs are assumed to be available, namely joint torque at link base and transverse force tip link. The formulated solved using semigroup theory duality arguments. Simulation results provided support theoretical findings, comparing proposed LQ law with more conventional PD/state feedback controller in terms cost transient performance.
It is common knowledge that tractor-trailer vehicles are affected by jackknifing, a phenomenon consists in the divergence of trailer hitch angle and ultimately causes vehicle to fold up. For case backwards motion, which jackknifing can also occur at low speeds, we present control method drives along reference Cartesian trajectory while avoiding angle. In particular, feedback law obtained combining two actions: tracking term, computed using input-output linearization, corrective generated via...
A family of asymptotically stabilizing tracking control laws was introduced by the author (1991) for a class nonlinear Hamiltonian systems. These all have structure sum feedback design based on passivity consideration and feedforward obtained via procedure that is closely related to plant inversion. In this paper calculation considered in detail both flexible joint robots single planar link. The latter also leads general result relating inverse dynamics model reference case linear systems.<...