{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/128291"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/128291","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Balance control and locomotion planning for humanoid robots using nonlinear centroidal models","abstract":"Balance control approaches for humanoid robots have traditionally relied on low-dimensional models for locomotion planning and reactive balance control. Results for the low-dimensional model are mapped to the full robot, and used as inputs to a whole-body controller. In particular, the linear inverted pendulum (LIP) has long been the de facto standard low-dimensional model used in balance control. The LIP has its limitations, however. For example, it requires that the robot's center of mass move on a plane and that the robot's contact environment be planar. This thesis presents control and planning approaches using nonlinear low-dimensional models, aimed at mitigating some of the limitations of the LIP. Specically, the contributions are: 1) a closed-form controller and region of attraction analysis for a nonlinear variable-height inverted pendulum model, 2) a trajectory optimization approach for humanoid robot locomotion over moderately complex terrain based on mixed-integer nonlinear programming with a low-dimensional model, and 3) a quadratic-programming based controller that uses the the results from these low-dimensional models to control a simulation model of the Atlas humanoid robot.","abstract_html":"Balance control approaches for humanoid robots have traditionally relied on low-dimensional models for locomotion planning and reactive balance control. Results for the low-dimensional model are mapped to the full robot, and used as inputs to a whole-body controller. In particular, the linear inverted pendulum (LIP) has long been the de facto standard low-dimensional model used in balance control. The LIP has its limitations, however. For example, it requires that the robot's center of mass move on a plane and that the robot's contact environment be planar. This thesis presents control and planning approaches using nonlinear low-dimensional models, aimed at mitigating some of the limitations of the LIP. Specically, the contributions are: 1) a closed-form controller and region of attraction analysis for a nonlinear variable-height inverted pendulum model, 2) a trajectory optimization approach for humanoid robot locomotion over moderately complex terrain based on mixed-integer nonlinear programming with a low-dimensional model, and 3) a quadratic-programming based controller that uses the the results from these low-dimensional models to control a simulation model of the Atlas humanoid robot.","abstract_has_math":false,"creators":["Koolen, Frans Anton."],"institution":"Massachusetts Institute of Technology","degree_name":"Doctoral","degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science","school":null,"contributors":[],"advisors":["Russ Tedrake."],"committee_chairs":[],"committee_members":[],"year":2020,"date_issued":"2020","date_published":"2020","updated_at":"2026-07-22T22:22:10Z","subjects":["Electrical Engineering and Computer Science."],"languages":["eng"],"rights":["MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided."],"rights_urls":["http://dspace.mit.edu/handle/1721.1/7582"],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/1721.1/128291","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Russ Tedrake."]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. 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Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided."]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://dspace.mit.edu/handle/1721.1/7582"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/1721.1/128291"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.","Thesis: Ph. D., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2020","Cataloged from student-submitted PDF of thesis.","Includes bibliographical references (pages 133-151)."]},{"key":"dc:description.abstract","label":"Abstract","values":["Balance control approaches for humanoid robots have traditionally relied on low-dimensional models for locomotion planning and reactive balance control. Results for the low-dimensional model are mapped to the full robot, and used as inputs to a whole-body controller. In particular, the linear inverted pendulum (LIP) has long been the de facto standard low-dimensional model used in balance control. The LIP has its limitations, however. For example, it requires that the robot's center of mass move on a plane and that the robot's contact environment be planar. This thesis presents control and planning approaches using nonlinear low-dimensional models, aimed at mitigating some of the limitations of the LIP. Specically, the contributions are: 1) a closed-form controller and region of attraction analysis for a nonlinear variable-height inverted pendulum model, 2) a trajectory optimization approach for humanoid robot locomotion over moderately complex terrain based on mixed-integer nonlinear programming with a low-dimensional model, and 3) a quadratic-programming based controller that uses the the results from these low-dimensional models to control a simulation model of the Atlas humanoid robot."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Ph. D."]},{"key":"dc:title","label":"Title","values":["Balance control and locomotion planning for humanoid robots using nonlinear centroidal models"]}]}],"canonical_facts":{"dc:contributor.advisor":["Russ Tedrake."],"dc:contributor.department":["Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science","EECS"],"dc:contributor.other":["Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science."],"dc:creator":["Koolen, Frans Anton."],"dc:date.accessioned":["2020-11-03T20:28:22Z"],"dc:date.available":["2020-11-03T20:28:22Z"],"dc:date.issued":["2020"],"dc:description":["This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.","Thesis: Ph. D., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2020","Cataloged from student-submitted PDF of thesis.","Includes bibliographical references (pages 133-151)."],"dc:description.abstract":["Balance control approaches for humanoid robots have traditionally relied on low-dimensional models for locomotion planning and reactive balance control. Results for the low-dimensional model are mapped to the full robot, and used as inputs to a whole-body controller. In particular, the linear inverted pendulum (LIP) has long been the de facto standard low-dimensional model used in balance control. The LIP has its limitations, however. For example, it requires that the robot's center of mass move on a plane and that the robot's contact environment be planar. This thesis presents control and planning approaches using nonlinear low-dimensional models, aimed at mitigating some of the limitations of the LIP. Specically, the contributions are: 1) a closed-form controller and region of attraction analysis for a nonlinear variable-height inverted pendulum model, 2) a trajectory optimization approach for humanoid robot locomotion over moderately complex terrain based on mixed-integer nonlinear programming with a low-dimensional model, and 3) a quadratic-programming based controller that uses the the results from these low-dimensional models to control a simulation model of the Atlas humanoid robot."],"dc:description.degree":["Ph. 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