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Robust locomotion is a challenging task for humanoid robots, especially when considering dynamic disturbances. This article proposes a disturbance observer-based cascaded model predictive control (MPC) approach for bipedal locomotion, with the capability of exploiting ankle, stepping, hip and height variation strategies. Specifically, based on the variable-height inverted pendulum model, a nonlinear MPC that is run at a low frequency is built for 3-D locomotion (i.e., with height variation) while accounting for the footstep modulation as well. Differing from previous works, the nonlinear MPC is formulated as a convex optimization problem by semidefinite relaxation. Subsequently, assuming a flywheel at the pelvis center, a linear MPC that is run at a high frequency is proposed to regulate angular momentum (e.g., through rotating the upper body), which is solved by convex quadratic programming. To run the cascaded MPC in a closed-loop manner, a high order sliding mode observer is designed to estimate system states and dynamic disturbances simultaneously. Simulation and hardware experiments demonstrate the walking robustness in real-world scenarios, including 3-D walking with varying speeds, walking across non-coplanar terrains and push recovery. [ABSTRACT FROM AUTHOR]

SUMMARY: The work aims to realize energy-efficient bipedal walking by employing the three-mass inverted pendulum model (3MIPM) and compare its energy performance with linear inverted pendulum model (LIPM). To do this, a general optimal index on center of mass (CoM) acceleration is first derived for energetic cost evaluation. After defining the equivalent zero moment point (ZMP) motion, an unconstrained optimization approach for CoM generation is extended for 3MIPM, which can track different ZMP references and address the height variation as well. To make use of the allowable ZMP movement, a constrained optimization method is also employed, contributing to lower energetic cost. Simulation and hardware experiments on a humanoid robot demonstrate that the 3MIPM could achieve higher energy efficiency. [ABSTRACT FROM AUTHOR]

Motivated by the potential use of humanoid-robot in real environment, a position-domain adaptive control strategy is developed to stabilize the underactuated bipedal walking on a compliant ground. First, the robot-ground system is modeled as a rigid kinematical chain coupled with a spring-damper system. Then by observing the simulation result of walking on compliant ground, we find the improvement of walking stability can be realized by controlling the initial velocity of robot's center-of-mass (COM) of each walking cycle. In consideration of the highly-complicated impact of real road surface on direct velocity control, through the analysis on the relationship between the robot's COM velocity and its foot vertical velocity, the robot's state is parameterized by the normalized relative vertical position between both the feet, and the control of robot's COM initial velocity of current cycle is realized by controlling the relative vertical velocity between the robot's two feet during the previous impact phase. To realize it, an adaptive feedback linearization control strategy is developed in position-domain. Finally, the availability and adaptability of this method are validated through simulations: Specific to three initial gaits, on four compliant ground with different damping parameters, the underactuated bipedal walking is stabilized and the performance is improved. [ABSTRACT FROM AUTHOR]

This paper makes a paradigm shift in the assumed notion of common subexpressions for complexity reduction of multiple constant multiplications implementation. Our proposed unified adder/subtractor (UAS)-based common subexpression elimination (CSE) algorithm is inspired by the recent advancement in complex arithmetic component mapping for datapath synthesis of digital systems. A dedicated UAS operator is designed at gate level to achieve arithmetic reduction for concurrent computation of the sum and difference of two input signals. To maximize computation reuse, dual subexpression is defined to enable a UAS to be shared by the otherwise incompatible odd and even common subexpressions. The three different types of common subexpression are uniquely encoded by a quadruple in the proposed data structure. Constant coefficients are represented by signed digits in Cartesian coordinate system from which nonoverlapping pairs of nonzero digits are parsed for dual, even, and odd subexpressions to maximize the reuse of all three types of arithmetic resources. The effectiveness of our proposed UAS-based CSE in overcoming the complexity reduction bottleneck are demonstrated by comparing the synthesis results obtained from six benchmark finite impulse response filters, an electroencephalogram filter bank, fast Fourier transform, and discrete cosine transform multipliers designed by ten algorithms. The results show a noteworthy 27.2% reduction in area-time complexity of our method over the baseline canonical signed digit implementation. Our solutions are also more power efficient, with average power saving of 12.0% over those designed by other algorithms in comparison. [ABSTRACT FROM AUTHOR]