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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
2 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK [2007-2015] - Laboratoire Jean Kuntzmann [2007-2015], Grenoble INP [2007-2019] - Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019]
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 : Friday, July 17, 2020 - 11:38:57 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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