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Article

Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control

by
Yong Yang
1,
Jiyuan Shi
1,
Songrui Huang
2,
Yuhong Ge
1,
Wenhan Cai
2,
Qingkai Li
2,
Xueying Chen
1,
Xiu Li
1 and
Mingguo Zhao
2,*
1
Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China
2
Department of Automation, Tsinghua University, Beijing 100084, China
*
Author to whom correspondence should be addressed.
Biomimetics 2022, 7(4), 244; https://doi.org/10.3390/biomimetics7040244
Submission received: 29 November 2022 / Revised: 12 December 2022 / Accepted: 13 December 2022 / Published: 16 December 2022
(This article belongs to the Special Issue Bio-Inspired Design and Control of Legged Robot)
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Abstract

Balancing is a fundamental task in the motion control of bipedal robots. Compared to two-foot balancing, one-foot balancing introduces new challenges, such as a smaller supporting polygon and control difficulty coming from the kinematic coupling between the center of mass (CoM) and the swinging leg. Although nonlinear model predictive control (NMPC) may solve this problem, it is not feasible to implement it on the actual robot because of its large amount of calculation. This paper proposes the three-particle model predictive control (TP-MPC) approach. It combines with the hierarchical whole-body control (WBC) to solve the one-leg balancing problem in real time. The bipedal robot’s torso and two legs are modeled as three separate particles without inertia. The TP-MPC generates feasible swing leg trajectories, followed by the WBC to adjust the robot’s center of mass. Since the three-particle model is linear, the TP-MPC requires less computational cost, which implies real-time execution on an actual robot. The proposed method is verified in simulation. Simulation results show that our method can resist much larger external disturbance than the WBC-only control scheme.
Keywords: model predictive control; whole-body control; biped robot balance model predictive control; whole-body control; biped robot balance

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MDPI and ACS Style

Yang, Y.; Shi, J.; Huang, S.; Ge, Y.; Cai, W.; Li, Q.; Chen, X.; Li, X.; Zhao, M. Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control. Biomimetics 2022, 7, 244. https://doi.org/10.3390/biomimetics7040244

AMA Style

Yang Y, Shi J, Huang S, Ge Y, Cai W, Li Q, Chen X, Li X, Zhao M. Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control. Biomimetics. 2022; 7(4):244. https://doi.org/10.3390/biomimetics7040244

Chicago/Turabian Style

Yang, Yong, Jiyuan Shi, Songrui Huang, Yuhong Ge, Wenhan Cai, Qingkai Li, Xueying Chen, Xiu Li, and Mingguo Zhao. 2022. "Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control" Biomimetics 7, no. 4: 244. https://doi.org/10.3390/biomimetics7040244

APA Style

Yang, Y., Shi, J., Huang, S., Ge, Y., Cai, W., Li, Q., Chen, X., Li, X., & Zhao, M. (2022). Balanced Standing on One Foot of Biped Robot Based on Three-Particle Model Predictive Control. Biomimetics, 7(4), 244. https://doi.org/10.3390/biomimetics7040244

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