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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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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