Squat Motion of a Humanoid Robot Using Three-Particle Model Predictive Control and Whole-Body Control

Squatting is a fundamental and crucial movement, often employed as a basic test during robot commissioning, and it plays a significant role in some service industries and in cases when robots perform high-dynamic movements like jumping. Therefore, achieving continuous and precise squatting actions i...

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Main Authors: Hongxiang Chen, Xiuli Zhang, Mingguo Zhao
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Sensors
Subjects:
Online Access:https://www.mdpi.com/1424-8220/25/2/435
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author Hongxiang Chen
Xiuli Zhang
Mingguo Zhao
author_facet Hongxiang Chen
Xiuli Zhang
Mingguo Zhao
author_sort Hongxiang Chen
collection DOAJ
description Squatting is a fundamental and crucial movement, often employed as a basic test during robot commissioning, and it plays a significant role in some service industries and in cases when robots perform high-dynamic movements like jumping. Therefore, achieving continuous and precise squatting actions is of great importance for the future development of humanoid robots. In this paper, we apply three-particle model predictive control (TP-MPC) combined with weight-based whole-body control (WBC) to a humanoid robot. In this approach, the arms, legs, and torso are simplified into three particles. TP-MPC is utilized to optimize the rough planning’s reference trajectory, while WBC is employed to follow the optimized trajectory. The algorithm is tested through simulations of a humanoid robot performing continuous squatting motions. It demonstrates the ability to achieve more accurate trajectory tracking compared to using WBC alone and also optimizes the issue of excessive knee torque spikes that occur with WBC alone during squatting. Moreover, the algorithm is less computationally intensive, and it is capable of operating at a frequency of 100 Hz.
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spelling doaj-art-7300fdfb3d0040d29d5ad2ba373693ef2025-01-24T13:48:55ZengMDPI AGSensors1424-82202025-01-0125243510.3390/s25020435Squat Motion of a Humanoid Robot Using Three-Particle Model Predictive Control and Whole-Body ControlHongxiang Chen0Xiuli Zhang1Mingguo Zhao2School of Mechanical Electrical and Control Engineering, Beijing Jiaotong University, Beijing 100044, ChinaSchool of Mechanical Electrical and Control Engineering, Beijing Jiaotong University, Beijing 100044, ChinaDepartment of Automation, Tsinghua University, Beijing 100084, ChinaSquatting is a fundamental and crucial movement, often employed as a basic test during robot commissioning, and it plays a significant role in some service industries and in cases when robots perform high-dynamic movements like jumping. Therefore, achieving continuous and precise squatting actions is of great importance for the future development of humanoid robots. In this paper, we apply three-particle model predictive control (TP-MPC) combined with weight-based whole-body control (WBC) to a humanoid robot. In this approach, the arms, legs, and torso are simplified into three particles. TP-MPC is utilized to optimize the rough planning’s reference trajectory, while WBC is employed to follow the optimized trajectory. The algorithm is tested through simulations of a humanoid robot performing continuous squatting motions. It demonstrates the ability to achieve more accurate trajectory tracking compared to using WBC alone and also optimizes the issue of excessive knee torque spikes that occur with WBC alone during squatting. Moreover, the algorithm is less computationally intensive, and it is capable of operating at a frequency of 100 Hz.https://www.mdpi.com/1424-8220/25/2/435humanoid robotwhole body control (WBC)model predictive control (MPC)squat motion
spellingShingle Hongxiang Chen
Xiuli Zhang
Mingguo Zhao
Squat Motion of a Humanoid Robot Using Three-Particle Model Predictive Control and Whole-Body Control
Sensors
humanoid robot
whole body control (WBC)
model predictive control (MPC)
squat motion
title Squat Motion of a Humanoid Robot Using Three-Particle Model Predictive Control and Whole-Body Control
title_full Squat Motion of a Humanoid Robot Using Three-Particle Model Predictive Control and Whole-Body Control
title_fullStr Squat Motion of a Humanoid Robot Using Three-Particle Model Predictive Control and Whole-Body Control
title_full_unstemmed Squat Motion of a Humanoid Robot Using Three-Particle Model Predictive Control and Whole-Body Control
title_short Squat Motion of a Humanoid Robot Using Three-Particle Model Predictive Control and Whole-Body Control
title_sort squat motion of a humanoid robot using three particle model predictive control and whole body control
topic humanoid robot
whole body control (WBC)
model predictive control (MPC)
squat motion
url https://www.mdpi.com/1424-8220/25/2/435
work_keys_str_mv AT hongxiangchen squatmotionofahumanoidrobotusingthreeparticlemodelpredictivecontrolandwholebodycontrol
AT xiulizhang squatmotionofahumanoidrobotusingthreeparticlemodelpredictivecontrolandwholebodycontrol
AT mingguozhao squatmotionofahumanoidrobotusingthreeparticlemodelpredictivecontrolandwholebodycontrol