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LMPC based online generation of more efficient walking motions

Andrei Herdt 1 Nicolas Perrin 2 Pierre-Brice Wieber 3
3 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology, LJK - Laboratoire Jean Kuntzmann, Inria Grenoble - Rhône-Alpes
Abstract : This paper proposes solutions to the relative lack of efficiency of walking trajectories generated online. Extensions of a previously introduced Linear Model Predictive Control law are proposed that allow to improve the walking performance through variation of the height of the CoM and toe flexion. Extensive simulations serve to demonstrate the capacity of the improved scheme to generate significantly more efficient walking motions.
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Andrei Herdt, Nicolas Perrin, Pierre-Brice Wieber. LMPC based online generation of more efficient walking motions. IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2012, Osaka, Japan. pp.390-395, ⟨10.1109/HUMANOIDS.2012.6651549⟩. ⟨hal-02487630⟩



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