Online Walking Motion Generation with Automatic Foot Step Placement

Andrei Herdt 1, 2 Holger Diedam 3 Pierre-Brice Wieber 1, 2 Dimitar Dimitrov 2 Katja Mombaur 3 Moritz Diehl 4
1 CNRS-AIST JRL - Joint Robotics Laboratory [France]
2 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
3 IWR - Interdisciplinary Center for Scientific Computing
4 ESAT - Department of Electrical Engineering [Leuven]
Abstract : 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.
Keywords : Walking humanoid robot Linear model predictive control
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Article dans une revue
Advanced Robotics, Taylor & Francis, 2010, Special Issue: Section Focused on Cutting Edge of Robotics in Japan 2010, 24 (5-6), pp.719-737. 〈10.1163/016918610X493552〉
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Andrei Herdt, Holger Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, Katja Mombaur, et al.. Online Walking Motion Generation with Automatic Foot Step Placement. Advanced Robotics, Taylor & Francis, 2010, Special Issue: Section Focused on Cutting Edge of Robotics in Japan 2010, 24 (5-6), pp.719-737. 〈10.1163/016918610X493552〉. 〈inria-00391408v2〉

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