This paper presents a novel approach to enhance Model Predictive control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subs...
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ISBN:
(纸本)9798350377712;9798350377705
This paper presents a novel approach to enhance Model Predictive control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing the Alternating Direction Method of Multipliers (ADMM) to ensure consensus among them. Each subsystem is managed by its own Optimal control Problem, with ADMM facilitating consistency between their optimizations. This approach not only decreases the computational time but also allows for effective scaling with more complex robot configurations, facilitating the integration of additional subsystems such as articulated arms on a quadruped robot. We demonstrate, through numerical evaluations, the convergence of our approach on two systems with increasing complexity. In addition, we showcase that our approach converges towards the same solution when compared to a state-of-the-art centralized whole-body MPC implementation. Moreover, we quantitatively compare the computational efficiency of our method to the centralized approach, revealing up to a 75% reduction in computational time. Overall, our approach offers a promising avenue for accelerating MPC solutions for legged robots, paving the way for more effective utilization of the computational performance of modern hardware. Accompanying video at https://***/Yar4W-Vlh2A. The related code can be found at https://***/iit-DLSLab/DWMPC
Learning evaluation system can improve the quality of teaching by scrutinizing and monitoring students' learning status. It not only enable students to better understand their academic performance, but also help t...
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Emulsification processes show a plethora of use cases in different industries. The complexity and intransparency of many emulsion systems make it hard to apply classic control approaches. The operation of these system...
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ISBN:
(纸本)9798350364309;9798350364293
Emulsification processes show a plethora of use cases in different industries. The complexity and intransparency of many emulsion systems make it hard to apply classic control approaches. The operation of these systems therefore often diverts towards a manual open-loop control. While population balance models (PBM) have been explored for multiple decades, they are rarely used in practice for closed-loop control due to the high computational effort. For this purpose a datadriven modeling approach specifically tailored to the control of complex emulsification devices is introduced. A new simplified description scheme of particle size distributions in combination with Gaussian process regression on a reasonably sized dataset can predict the system change. It additionally gives a useful measure of uncertainty for the predicted change, which is propagated onto the discrete distribution description. The concept is proven with leave-one-out cross-validation, before showing its potential in a model predictive control (MPC) simulation.
In situations where robots work alongside humans, they must be capable of responding flexibly to unexpected external forces. To address this challenge, researchers have conducted numerous studies on soft robotics. How...
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ISBN:
(纸本)9798350377712;9798350377705
In situations where robots work alongside humans, they must be capable of responding flexibly to unexpected external forces. To address this challenge, researchers have conducted numerous studies on soft robotics. However, most of the soft hands studied so far are powered by pneumatic pressure and can only exert pressure up to a several hundred kPa, resulting in low output. To solve this problem, we have developed a hydraulic soft hand in our previous research. In this paper, we derive the relationship between driving pressure, bending angle, and grasping force of a soft hand with a reservoir to evaluate the effect of a rubber sheet reservoir. Additionally, we experimentally show that the soft hand provides grasping flexibility when angle control is applied using the model proposed in this paper.
The paper focuses on the development of a new intelligent electronic control module for laser light projection systems. The importance and the benefits of laser light projection systems are highlighted and relevant re...
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The paper focuses on the development of a new intelligent electronic control module for laser light projection systems. The importance and the benefits of laser light projection systems are highlighted and relevant requirements for the electronics needed for their successful application are identified. On this basis, a component-based architecture of the intelligent electronic control module is designed. Then, the implementation of this architecture in hardware and software is discussed. After that, the results of some experiments with the module embedded into a prototype laser light projection system are presented and analyzed briefly. They show that the module functions as intended and provides enough flexibility for use in laser light projection systems in different applications. Copyright (C) 2024 The Authors.
We present a method for converting text into soundscapes, automatically generating synthesized soundscapes for text that include sound objects and descriptions of sound effects. Previous research often focused on obje...
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In order to solve the stability problem of intelligent vehicles, which is that high-adhesion roads are prone to rollover accidents and low-adhesion roads are prone to side-slip accidents under sharp turning conditions...
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In recent years, the incidence and mortality rates of cardiovascular diseases have been increasing year by year, prompting greater attention to the monitoring of physiological parameters in daily life. This paper prop...
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An intelligent operation and maintenance system of power communication network based on the Internet of Things is established. The mobile operation management system of the Internet of Things is used to accurately col...
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This work addresses the adaptive Smith predictor control of a tele-operated robot composed of a flexible link. Measurements of the angle of the motor that moves the arm by using an encoder and the moment at the base o...
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ISBN:
(纸本)9798350377712;9798350377705
This work addresses the adaptive Smith predictor control of a tele-operated robot composed of a flexible link. Measurements of the angle of the motor that moves the arm by using an encoder and the moment at the base of the arm by using two strain gauges are fed back. These strain gauges normally present noticeable offset and high-frequency noise. In order to implement such control, the simultaneous real-time characterizations of the main vibration mode - which changes with the carried payload - and the delay of the tele-operated robot - which is time-varying - are carried out using a new algorithm based on an algebraic identification technique, which is robust to the previous strain gauge disturbances. This algorithm is faster than others previously developed, being especially suited to implement an adaptive version of the Smith predictor. The control of the tip position of the robot is closed using a fractional order controller, which has the advantage of removing the steady state error introduced by the strain gauges offset on the tip position. This adaptive control system is subsequently evaluated on a prototype. Simulated and experimental results are presented demonstrating the speed, accuracy, and robustness of the performed control system.
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