Pivoting Manipulation

MPC is implemented to realize feedback control.

Pivoting manipulation is suitable for moving large and heavy objects because the most weight of the object is supported by the floor. We propose graph MPC to realize a pivoting gait. Two gait modes are designed which are Douple Support(DS) mode and Quadruple Support(QS) mode. The DS mode is fast while the QS mode is stable. A graph is proposed to select a proper sequence of gait mode. Then, MPC is used to track a desired trajecotry. 视频Video. Preprint pdf.

• Date: 2021.04

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Bipedal Walking

HRP-2

A walking pattern generator is designed based on MPC with basis functions. Basis functions like Laguerre and Haar functions are introduced to represent the input of MPC and they reduced the computation load. We tested the proposed method by experiment using humanoid robot HRP-2. This work is published in Advanced Robotics.

• Date: 2021.04

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Pulling fire hose

By humanoid robot Talos

I hope that one day robot can replace human to work in dangerous places. In this work, I make the humanoid robot to carry a fire-hose during walking. Keeping balance of a robot with 34-DOF is difficult, not to mention carrying a soft fire-hose. I predict the desired pulling force and try to compensate the disturbance force from the robot hand which holds the hose.

• Date: 2021.04

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Manipulation combining Pivoting, Tumbling and Regrasping

Dexterous manipulation

The pivoting gait is stengthened by combining tumbling and regrasping which improve the performance of collision avoidance. In addition, a manipulation planning is proposed to manipulate a general shaped object. Paper, Video, 视频

• Date: 2021.09

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Publications

Selected publications

1. Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping. Zhang A, Keisuke K, Weiwei W, Kensuke H. Advances in Industrial Robotics and Intelligent Systems. Applied Sciences. Pdf is available at (https://www.mdpi.com/2076-3417/11/19/9103), 2021.
2. Controlling Pivoting Gait Using Graph Model Predictive Control. Zhang A, Keisuke K, Weiwei W, Kensuke H. IEEE Access. Pdf is available at (https://ieeexplore.ieee.org/document/9432937), 2021.
3. Manipulation Planning to Pivot a General Shaped Object. Zhang A, Keisuke K, Weiwei W, Kensuke H. The 39th annual conference of the Robotics Society of Japan (RSJ2021), Sept 8~11
4. Pivoting Large Object Using Graph Model Predictive Control. Zhang A, Keisuke K, Weiwei W, Kensuke H. The 21th Conference of the Society of Instrument and Control Engineers(SICE2020)
5. Humanoid walking pattern generation based on model predictive control approximated with basis functions[J]. Zhang A, Ramirez-Alpizar I G, Esclasse K G, Stasse O, Harada K. Advanced Robotics, 2019: 1-15.
6. A novel controller design for three-phase voltage source inverter[J]. Chen M, Zhang A, Chong K T., International Journal of Control, Automation and Systems, 2018, 16(5): 2136-2145.
7. A fast bipedal gait pattern generation based on model predictive control. Zhang A, Ramirez-Alpizar I G, Stasse O, Harada K., 1J1- 052018.9 the 36th Annual Conference of the Robotics Society of Japan, 2018

• Date: 2021.09

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