Title :
Moving horizon control for biped robots without reference trajectory
Author :
Azevedo, Christine ; Poignet, Philippe ; Espiau, Bernard
Author_Institution :
INRIA, St. Ismier, France
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;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013650
