| 摘要 |
The object of the invention is a humanoid robot (100) with a body (190) joined to an omnidirectional mobile ground base (140), and equipped with:
- a body position sensor and a base position sensor to provide measures,
- actuators (212) comprising at least 3 wheels (141) located in the omnidirectional mobile base,
- extractors (211) for converting the measures into useful data,
- a controller to calculate position, velocity and acceleration commands from the useful data using a robot model and preordered position and velocity references,
- means for converting the commands into instructions for the actuators,
characterized in that the robot model is a double point-mass model, and in that the commands are based on a linear model predictive control law with a discretized time according to a sampling time period and a number of predicted samples, and expressed as a quadratic optimization formulation with:
- a weighted sum of objectives
- a set of predefined linear constraints |
