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Online Walking Motion Generation with Automatic Foot Step Placement

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.
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https://hal.inria.fr/inria-00391408
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Submitted on : Tuesday, March 16, 2010 - 10:00:19 AM
Last modification on : Thursday, May 12, 2022 - 8:44:02 AM
Long-term archiving on: : Thursday, September 23, 2010 - 12:09:49 PM

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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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