Online walking gait generation with adaptive foot positioning through Linear Model Predictive control

Building on previous propositions to generate walking gaits online through the use of linear model predictive control, the goal of this paper is to show that it is possible to allow on top of that a continuous adaptation of the positions of the foot steps, allowing the generation of stable walking g...

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Bibliographic Details
Main Authors: Diedam, H., Dimitrov, D., Wieber, P.-B., Mombaur, K., Diehl, M.
Format: Conference Proceeding
Language:English
Subjects:
Foot
Joints
Legged locomotion
Predictive control
Robot kinematics
Robots
Trajectory
Online Access:Request full text
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Summary:Building on previous propositions to generate walking gaits online through the use of linear model predictive control, the goal of this paper is to show that it is possible to allow on top of that a continuous adaptation of the positions of the foot steps, allowing the generation of stable walking gaits even in the presence of strong perturbations, and that this additional adaptation requires only a minimal modification of the previous schemes, especially maintaining the same linear model predictive form. Simulation results are proposed then on the HRP-2 humanoid robot, showing a significant improvement over the previous schemes.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2008.4651055