An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles

We address the problem of real-time obstacle avoidance on low-friction road surfaces using spatial Nonlinear Model Predictive Control (NMPC). We use a nonlinear four-wheel vehicle dynamics model that includes load transfer. To overcome the computational difficulties we propose to use the ACADO Code Generation tool which generates NMPC algorithms based on the real-time iteration scheme for dynamic optimization. The exported plain C code is tailored to the model dynamics, resulting in faster run-times in effort for real-time feasibility. The advantages of the proposed method are shown through simulation

Balance and Posture Control for Biped Robots

This work presents an overview of a new approach for balance and posture control by regulating simultaneously the center of mass position and trunk orientation of a biped robot. After an unknown external perturbation deviates the robot from a desired posture, the controller computes a wrench (force and torque) required to recover the desired position and orientation, according to a compliance control law. This wrench is distributed to predefined supporting contact points at the feet. The forces at these points are computed via a constrained optimization problem, adopted from the grasping literature, which minimizes the contact forces while including friction restrictions and torque limits at each joint