Stabilization of the Capture Point Dynamics for Bipedal Walking based on Model Predictive Control - Archive ouverte HAL Access content directly
Conference Papers Year : 2012

Stabilization of the Capture Point Dynamics for Bipedal Walking based on Model Predictive Control

(1) , (1) , (2) , (1)
1
2

Abstract

Considering a reduced center-of-mass model for bipedal walking, by utilizing the Capture Point as a system coordinate one can separate the stable and unstable components of the dynamics. In this paper, previous works on the stabilization of the Capture Point dynamics are extended by employing model predictive control (MPC). This allows to explicitly incorporate constraints on the zero-moment-point (ZMP) in the controller design. The proposed Capture-Point-MPC is evaluated in simulation and experiments with the DLR-Biped.
Fichier principal
Vignette du fichier
Krause2012Syroco.pdf (733.13 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-02487644 , version 1 (21-02-2020)

Identifiers

Cite

Manuel Krause, Johannes Englsberger, Pierre-Brice Wieber, Christian Ott. Stabilization of the Capture Point Dynamics for Bipedal Walking based on Model Predictive Control. IFAC Symposium on Robot Control, Sep 2012, Dubrovnik, Croatia. pp.165-171, ⟨10.3182/20120905-3-HR-2030.00165⟩. ⟨hal-02487644⟩
217 View
418 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More