Optimization-Based Reference Generator for Nonlinear MPC
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  • Release Date: 2023-03-28
  • legged robots
  • reference generator
  • model predictive controller
  • motion and path planning
  • optimization and optimal control
Video Introduction

This video is adapted from 10.3390/robotics12010006

Model predictive control (MPC) approaches are widely used in robotics, because they guarantee feasibility and allow the computation of updated trajectories while the robot is moving. They generally require heuristic references for the tracking terms and proper tuning of the parameters of the cost function in order to obtain good performance. For instance, when a legged robot has to react to disturbances from the environment (e.g., to recover after a push) or track a specific goal with statically unstable gaits, the effectiveness of the algorithm can degrade.

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Bratta, A.; Focchi, M.; Rathod, N.; Semini, C. Optimization-Based Reference Generator for Nonlinear MPC. Encyclopedia. Available online: https://encyclopedia.pub/video/video_detail/668 (accessed on 23 April 2024).
Bratta A, Focchi M, Rathod N, Semini C. Optimization-Based Reference Generator for Nonlinear MPC. Encyclopedia. Available at: https://encyclopedia.pub/video/video_detail/668. Accessed April 23, 2024.
Bratta, Angelo, Michele Focchi, Niraj Rathod, Claudio Semini. "Optimization-Based Reference Generator for Nonlinear MPC" Encyclopedia, https://encyclopedia.pub/video/video_detail/668 (accessed April 23, 2024).
Bratta, A., Focchi, M., Rathod, N., & Semini, C. (2023, March 28). Optimization-Based Reference Generator for Nonlinear MPC. In Encyclopedia. https://encyclopedia.pub/video/video_detail/668
Bratta, Angelo, et al. "Optimization-Based Reference Generator for Nonlinear MPC." Encyclopedia. Web. 28 March, 2023.