HAL - INRIA :: [inria-00391408, version 2] Online Walking Motion Generation with Automatic Foot Step Placement

inria-00391408, version 2

Online Walking Motion Generation with Automatic Foot Step Placement

Andrei Herdt ^1, 2, Holger Diedam ³, Pierre-Brice Wieber ()^a^, 1, 2, Dimitar Dimitrov ², Katja Mombaur ³, Moritz Diehl ⁴

Advanced Robotics 24, 5-6 (2010) 719-737

Résumé : 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.

a – INRIA
1 : Joint Robotics Laboratory AIST & CNRS (JRL)
AIST – CNRS : UMI3218
2 : BIPOP (INRIA Grenoble Rhône-Alpes / LJK Laboratoire Jean Kuntzmann)
INRIA – Laboratoire Jean Kuntzmann
3 : Interdisciplinary Center for Scientiﬁc Computing (IWR)
University of Heidelberg
4 : Department of Electrical Engineering (ESAT)
Katholieke Universiteit Leuven

inria-00391408, version 2
http://hal.inria.fr/inria-00391408
oai:hal.inria.fr:inria-00391408
Contributeur : Pierre-Brice Wieber <>
Soumis le : Mardi 16 Mars 2010, 10:00:19
Dernière modification le : Mardi 16 Mars 2010, 13:49:03

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