[go: up one dir, main page]

Katayama, 2022 - Google Patents

Fast Model Predictive Control of Robotic Systems with Rigid Contacts

Katayama, 2022

View PDF
Document ID
12156624549369102293
Author
Katayama S
Publication year

External Links

Snippet

Robotic systems such as legged robots are expected to work in a wider variety of places. Planning and control are key technologies to give them a certain intelligence for autonomous decision-making. This thesis pursues this goal by establishing a real-time …
Continue reading at repository.kulib.kyoto-u.ac.jp (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06N—COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computer systems based on biological models
    • G06N3/02—Computer systems based on biological models using neural network models

Similar Documents

Publication Publication Date Title
Le Cleac'h et al. Fast contact-implicit model predictive control
Apgar et al. Fast Online Trajectory Optimization for the Bipedal Robot Cassie.
Caron et al. Capturability-based pattern generation for walking with variable height
Spong An historical perspective on the control of robotic manipulators
Agravante et al. Human-humanoid collaborative carrying
Wieber et al. Modeling and control of legged robots
Aydinoglu et al. Stabilization of complementarity systems via contact-aware controllers
Buss et al. Nonlinear hybrid dynamical systems: modeling, optimal control, and applications
Cheng et al. Rmpflow: A geometric framework for generation of multitask motion policies
Manchester et al. Robust direct trajectory optimization using approximate invariant funnels
Giftthaler et al. A projection approach to equality constrained iterative linear quadratic optimal control
Tucker et al. Preference-based learning for user-guided hzd gait generation on bipedal walking robots
Manchester et al. DIRTREL: Robust Trajectory Optimization with Ellipsoidal Disturbances and LQR Feedback.
Hamed et al. Dynamically stable 3D quadrupedal walking with multi-domain hybrid system models and virtual constraint controllers
Montano et al. Orbital stabilization of an underactuated bipedal gait via nonlinear H∞-control using measurement feedback
Shafei et al. Trajectory tracking of an uncertain wheeled mobile robotic manipulator with a hybrid control approach
Maywald et al. Co-optimization of acrobot design and controller for increased certifiable stability
Zhu et al. Observer-based state feedback model predictive control framework for legged robots
Zhu et al. Convergent iLQR for safe trajectory planning and control of legged robots
Liu et al. Deployment of whole-body locomotion and manipulation algorithm based on NMPC onto unitree Go2Quadruped robot
Nagarajan et al. Integrated motion planning and control for graceful balancing mobile robots
Csomay-Shanklin et al. Robust agility via learned zero dynamics policies
Tsikelis et al. Gait optimization for legged systems through mixed distribution cross-entropy optimization
Katayama Fast Model Predictive Control of Robotic Systems with Rigid Contacts
Azarbani et al. An Adaptive Nonsingular Fast Terminal Sliding Mode Controller for Dynamic Walking of a 5‐Link Planar Biped Robot in Both Single and Double Support Phases