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Emergence of complex behaviors from coordinated predictive control in humanoid robotics

Aurélien Ibanez 1
1 AGATHE - Assistance aux Gestes et Applications THErapeutiques
INSERM - Institut National de la Santé et de la Recherche Médicale : U1150, ISIR - Institut des Systèmes Intelligents et de Robotique
Abstract : Rising to the challenge of motor control for systems involved in multi-objective and highly-constrained activities is a requirement to enable the emergence of efficient and robust behaviors; the elaboration of complex motor coordination strategies is critical in ensuring performance, feasibility and safety.Although multi-objective predictive approaches enable the definition of complex and constrained strategies coordinating the motor activity of the system, their computational cost is a critical drawback from practical applications.The work presented in this dissertation aims at considering multi-objective predictive control for feasible and practical applications to humanoid robotics.A control architecture is proposed to this purpose as a multi-objective, two-layered controller exploiting the respective advantages of predictive and instantaneous formulations.The contribution of this work takes the form of the validation of the benefits from such an approach in its development for practical challenges and applications, in simulation and real-time implementation, on the iCub and TORO robots and virtual human models.Computational demand of the predictive level is contained with the introduction of reduced multi-objective predictive problems, enabling computationally-favorable formulations of the control problem using mixed-integer programming and sequential and parallel distributions.Despite the resulting approximations on the dynamics of the system at the predictive level, complex behaviors are emerging, exploiting elaborate coordination strategies between conflicting objectives and constraints to increase performance and robustness against disturbances.
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Submitted on : Tuesday, September 27, 2016 - 1:04:40 AM
Last modification on : Friday, March 22, 2019 - 1:32:46 AM
Document(s) archivé(s) le : Wednesday, December 28, 2016 - 12:56:30 PM


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  • HAL Id : tel-01308723, version 2


Aurélien Ibanez. Emergence of complex behaviors from coordinated predictive control in humanoid robotics. Automatic. Université Pierre et Marie Curie - Paris VI, 2015. English. ⟨NNT : 2015PA066325⟩. ⟨tel-01308723v2⟩



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