Robust Locomotion of Legged Robots with Closed-Loop Guarantees
This talk presents a predictive control framework allowing general legged robots to walk robustly, and describes its validation results on both humanoids and quadrupeds.
Overview
The development and analysis of a controller enabling the locomotion of a general legged robot (e.g., biped or quadruped) is presented. The controller, modifying a nonlinear Model Predictive Control - MPC - scheme, ensures closed loop stability and robustness to a class of constant disturbances. This is achieved thanks to employing the machinery of adaptive control together with Control Lyapunov Functions. Experimental validation of the controller on both a humanoid robot (the Italian ergoCub) and a quadruped (the unitree Aliengo) are presented. This work is now part of open source software packages published by the Italian Institute of Technology.
Presenters
Brief Biography
Mohamed Elobaid is a Research Scientist at King Abdullah University of Science and Technology (KAUST). Prior to joining KAUST, he was a Postdoctoral researcher with the Italian Institute of Technology in Genoa where he was responsible of a joint research lab with Honda R&D. Elobaid obtained his PhD in Automatic Control (magna cum laude) from Sapienza University of Rome in cotutelle with University of Paris Saclay (2022).
Related People
Related Researchers
Mohamed Elobaid
- Research Scientist, Electrical and Computer Engineering