DocumentCode
1870390
Title
Moving horizon control for biped robots without reference trajectory
Author
Azevedo, Christine ; Poignet, Philippe ; Espiau, Bernard
Author_Institution
INRIA, St. Ismier, France
Volume
3
fYear
2002
fDate
2002
Firstpage
2762
Lastpage
2767
Abstract
This paper deals with a new control approach for biped robots. The technique is inspired by the prediction capability of human being. Optimal computations over a moving horizon are performed with a set of constraints which is modified online to be adapted to the obstacle-filled environment. Simulation results show the efficiency of the algorithm in the case of a gait on flat terrain and steep stairs
Keywords
legged locomotion; motion control; optimal control; optimisation; robot dynamics; stability; biped robots; dynamic constraints; moving horizon; nonlinear dynamic modeling; optimal control; optimization; receding horizon; stability; walking robot; Chemical industry; Control systems; Humans; Kinematics; Legged locomotion; Motion control; Nonlinear control systems; Optimal control; Robot control; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013650
Filename
1013650
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