Walking motion generation with online foot position adaptation based on l1- and l∞-norm penalty formulations

Dimitar Dimitrov 1 Antonio Paolillo 1 Pierre-Brice Wieber 2
2 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
Abstract : The article presents an improved formulation of an existing model predictive control scheme used to generate online "stable" walking motions for a humanoid robot. We introduce: (i) a change of variable that simplifies the optimiza- tion problem to be solved; (ii) a simply bounded formulation in the case when the positions of the feet are predetermined; (iii) a formulation allowing foot repositioning (when the system is perturbed) based on l1- and l∞-norm minimization; (iv) a formulation that accounts for (approximate) double support constraints when foot repositioning occurs.
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Dimitar Dimitrov, Antonio Paolillo, Pierre-Brice Wieber. Walking motion generation with online foot position adaptation based on l1- and l∞-norm penalty formulations. ICRA 2011 - IEEE International Conference on Robotics & Automation, May 2011, Shanghai, China. pp.3523-3529, ⟨10.1109/ICRA.2011.5979671⟩. ⟨inria-00567671⟩

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