Walking without thinking about it

Andrei Herdt 1 Nicolas Perrin 2 Pierre-Brice Wieber 1
1 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
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : We demonstrate how the MPC sheme for the generation of stable bipedal walking motions, that has been introduced in [7], can be further expanded to enhance its flexibility and independency. An algorithm for the control of appropriate orientations of the feet and the trunk permits the robot to turn in a natural and safe way. Polygonal constraints on the positions of the computed feet positions serve to improve its reliability. A logic for the succession of the support phases and an algorithm for the automatic control of their orientations bridge the gap to more autonomy and to more practicability.
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Andrei Herdt, Nicolas Perrin, Pierre-Brice Wieber. Walking without thinking about it. IROS 2010 - IEEE-RSJ International Conference on Intelligent Robots & Systems, Oct 2010, Taipei, Taiwan. pp.190-195, ⟨10.1109/IROS.2010.5654429⟩. ⟨inria-00567668⟩

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