Model Hierarchy Predictive Control of Robotic Systems

by   He Li, et al.

This paper presents a new predictive control architecture for high-dimensional robotic systems. As opposed to a conventional Model-Predictive Control (MPC) approach that formulates a hierarchy of optimization problems, the proposed work formulates a single optimization problem posed over a hierarchy of models, and is thus named Model Hierarchy Predictive Control (MHPC). MHPC is formulated as a multi-phase receding-horizon Trajectory Optimization (TO) problem, and is solved by an efficient solver called Hybrid Systems Differential Dynamic Programming (HSDDP). MHPC is benchmarked in simulation on a quadruped, a biped, and a quadrotor, demonstrating control performance on par or exceeding whole-body MPC while maintaining a lower computational cost in each case. A preliminary bounding experiment is conducted on the MIT Mini Cheetah with the control policy generated offline, demonstrating the physical validity of the generated trajectories and motivating online MHPC in future work.


page 1

page 8


Optimal-Horizon Model-Predictive Control with Differential Dynamic Programming

We present an algorithm, based on the Differential Dynamic Programming f...

Whole-body model predictive control with rigid contacts via online switching time optimization

This study presents a whole-body model predictive control (MPC) of robot...

Reinforcement Learning of the Prediction Horizon in Model Predictive Control

Model predictive control (MPC) is a powerful trajectory optimization con...

Fast Non-Parametric Learning to Accelerate Mixed-Integer Programming for Online Hybrid Model Predictive Control

Today's fast linear algebra and numerical optimization tools have pushed...

Distributed Computation as Hierarchy

This paper presents a new distributed computational model of distributed...

Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework

Model Predictive Control (MPC) schemes have proven their efficiency in c...

A Neural-Network-Based Model Predictive Control of Three-Phase Inverter With an Output LC Filter

Model predictive control (MPC) has become one of the well-established mo...