First-exit model predictive control of fast discontinuous dynamics: Application to ball bouncing
First-exit model predictive control of fast discontinuous dynamics: Application to ball bouncing
复制标题
快速间断动力学的首次退出模型预测控制：在球弹跳中的应用
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
E. Todorov
中科院分区：
文献类型：
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作者：
Paul Kulchenko;E. Todorov
我们扩展了模型预测控制，使其适用于机器人的腿部运动、手操作和弹跳球等任务。在线最优控制问题被定义在第一出口而不是通常的有限水平设置中。出口歧管对应于接触状态的变化。通过这种方式，避免了通过动态间断进行在线优化的需要。相反，不连续的影响被合并到最终成本中，该成本是离线调整的。该方法在三维弹球任务中得到了验证。尽管我们的机器人机械性能有限，但它能顽强地弹出一个球，并能从广泛的干扰中恢复过来，还能用相同的球拍弹出两个球。这是可能的，因为智能响应是在线计算的，而不依赖于预先存在的计划。
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 finite-horizon 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.
混合节奏离散任务的最优控制：重温弹跳球
影响因子：
2.5
作者：
Ronsse, Renaud;Wei, Kunlin;Sternad, Dagmar
通讯作者：
Sternad, Dagmar