The goal of this paper is to demonstrate the capacity of Model Predictive Control to generate stable walking motions without the use of predefined foot steps. Building up on well-known Model Predictive Control schemes for walking motion generation, we show that a minimal modification of these schemes allows designing an online walking motion generator which can track a given reference speed of the robot and decide automatically the foot step placement. Simulation results are proposed on the HRP-2 humanoid robot, showing a significant improvement over previous approaches.
Publié le : 2010-07-05
Classification:
Walking humanoid robot,
Linear model predictive control,
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO],
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering,
[MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC]
@article{inria-00391408,
author = {Herdt, Andrei and Diedam, Holger and Wieber, Pierre-Brice and Dimitrov, Dimitar and Mombaur, Katja and Diehl, Moritz},
title = {Online Walking Motion Generation with Automatic Foot Step Placement},
journal = {HAL},
volume = {2010},
number = {0},
year = {2010},
language = {en},
url = {http://dml.mathdoc.fr/item/inria-00391408}
}