MPCBalancer Class Reference

Model-predictive controller for sagittal balance control. More...

Public Member Functions
def	__init__ (self, float fall_pitch=1.0, float leg_length=0.58, float max_ground_accel=10.0, float max_ground_velocity=3.0, int nb_timesteps=50, float sampling_period=0.02, float stage_input_cost_weight=1e-3, float stage_state_cost_weight=1e-3, float terminal_cost_weight=1.0, bool warm_start=True)
	Initialize balancer. More...
def	reset (self)
	Reset the internal state of the controller.
float	step (self, float target_ground_velocity, dict spine_observation, float dt, str qp_solver="proxqp")
	Compute a new ground velocity. More...

Public Attributes
	commanded_velocity
	Current commanded ground velocity in m/s.
	fall_pitch
	Pitch angle threshold for fall detection in radians.
	fallen
	Flag indicating whether the robot has fallen.
	max_ground_velocity
	Maximum ground velocity constraint in m/s.
	mpc_problem
	Model predictive control problem definition.
	mpc_qp
	Quadratic program formulation of the MPC problem.
	pendulum
	Wheeled inverted pendulum model.
	proxqp
	ProxQP solver workspace for the MPC optimization.
	warm_start
	Flag to enable warm-starting the QP solver.

Detailed Description

Model-predictive controller for sagittal balance control.

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The documentation for this class was generated from the following file:

• upkie/controllers/mpc_balancer.py