Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization

Abstract-- In this paper we consider the problem of allowing a humanoid robot that is subject to a persistent disturbance, in the form of a payload-carrying task, to follow given planned footsteps. MPC is augmented with terms handling the disturbance and regularizing the parameter. Finally, the effect of using the parametrization on the computational time of the controller is briefly studied. The high-level control layer typically utilizes "template" models to reason about the center of mass and feet trajectories [2], while the whole-body control layer uses the robot full model to track the adapted trajectories (see Figure 1). This paper focuses on designing a high-level trajectory adjustment controller leveraging a Figure 1: The controller highlighted in a typical multi-layer template model to allow for humanoid robots locomotion bipedal locomotion control architecture.