Title :
Landing Control of Acrobat Robot by RHC -Experimental Evaluation
Author :
Rokusho, T. ; Lee, J. ; Yamakita, M. ; Hirano, S. ; Luo, Z.W.
Author_Institution :
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol.
Abstract :
In this paper, a nonlinear model predictive control (MPC) scheme for constrained mechanical systems with state discontinuity, or state jump, is considered, and a control method which extends a fast numerical algorithm based on continuation and GMRES methods, allowing online implementation for mechanical systems possible, is applied for. The validity of the strategy is demonstrated by a landing control for an acrobat robot based on a commercially available humanoid robot, KHR-1, where a general purpose compact computer system named C-CHIP developed at BMC is installed in the system
Keywords :
PD control; humanoid robots; nonlinear control systems; predictive control; time-varying systems; C-CHIP computer system; GMRES method; acrobat robot; humanoid robot; landing control; mechanical system; nonlinear model predictive control; Chemical technology; Control systems; Humanoid robots; Mechanical systems; Nonlinear control systems; Open loop systems; Optimal control; Predictive control; Predictive models; Robot control; C/GMRES; KHR-1; RHC;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.314973
