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Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors

Csomay-Shanklin, Noel and Dorobantu, Victor D. and Ames, Aaron D. (2022) Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors. . (Unpublished)

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Achieving stable hopping has been a hallmark challenge in the field of dynamic legged locomotion. Controlled hopping is notably difficult due to extended periods of underactuation, combined with very short ground phases wherein ground interactions must be modulated to regulate global state. In this work, we explore the use of hybrid nonlinear model predictive control, paired with a low-level feedback controller in a multi-rate hierarchy, to achieve dynamically stable motions on a novel 3D hopping robot. In order to demonstrate richer behaviors on the manifold of rotations, both the planning and feedback layers must be done in a geometrically consistent fashion; therefore, we develop the necessary tools to employ Lie group integrators and an appropriate feedback controller. We experimentally demonstrate stable 3D hopping on a novel robot, as well as trajectory tracking and flipping in simulation.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Csomay-Shanklin, Noel0000-0002-2361-1694
Dorobantu, Victor D.0000-0002-2797-7802
Ames, Aaron D.0000-0003-0848-3177
Additional Information:This research was supported by NSF Graduate Research Fellowship No. DGE-1745301 and Raytheon, Beyond Limits, JPL RTD 1643049. The authors would like to especially thank Igor Sadalski, as well as Sergio Esteban and Adrian Boedtker Ghansah for their help with simulation and hardware implementation, and Will Compton for his experimental assistance.
Group:Center for Autonomous Systems and Technologies (CAST)
Funding AgencyGrant Number
NSF Graduate Research FellowshipDGE-1745301
Raytheon CompanyUNSPECIFIED
JPL Research and Technology Development Fund1643049
Record Number:CaltechAUTHORS:20221219-234055506
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:118466
Deposited By: George Porter
Deposited On:21 Dec 2022 18:04
Last Modified:16 Mar 2023 20:28

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