E. Marquez-Acosta | Tecnologico Nacional de Mexico/I. T. La Laguna |
V. De-León-Gómez | Universidad Autónoma de Coahuila |
V. Santibañez | Instituto Tecnologico De La Laguna |
https://doi.org/10.58571/CNCA.AMCA.2023.101
Resumen: Practical problems for the implementation of a real-time controller for gaits subject to disturbances on the NAO robot are shown in this paper. Moreover, how to deal with them and carry out real-time practical stable walkings is explained. The robot is modeled with the Linear Inverted Pendulum (LIP) model, which is a simplified model that concentrates the mass of the robot in a single point and constrains the height of the Center of Mass to a straight line. The controller in charge of keeping a stable gait is the Model Predictive Controller (MPC). The MPC is perhaps the most used controller in legged robots due to its optimization over a time horizon and to the possibility of including constraints in the optimization problem. Furthermore, important notes about the implementation of real-time experiments with the NAO robot are discussed in this work. This work gives the first steps to achieve a real-time control using the Essential Model.
![Real-time implementation of an online controller for the walking of the NAO robot](/wp-content/uploads/2022/04/logotipo_amca100.png)
¿Cómo citar?
Marquez-Acosta, Emanuel; De-León-Gómez, Víctor; Santibanez, Victor. Real-Time Implementation of an Online Controller for the Walking of the NAO Robot. Memorias del Congreso Nacional de Control Automático, pp. 580-585, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.101
Palabras clave
Robótica y Mecatrónica; Modelado e Identificación de Sistemas
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