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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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Contributor : Pierre-Brice Wieber <>
Submitted on : Thursday, June 4, 2009 - 7:58:14 AM
Last modification on : Tuesday, February 9, 2021 - 3:20:07 PM
Long-term archiving on: : Thursday, June 10, 2010 - 10:10:41 PM


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  • HAL Id : inria-00391408, version 1


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, 24 (5-6). ⟨inria-00391408v1⟩



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