Title :
Walking motion generation with online foot position adaptation based on ℓ1- and ℓ℞-norm penalty formulations
Author :
Dimitrov, Dimitar ; Paolillo, Antonio ; Wieber, Pierre-Brice
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.
Keywords :
humanoid robots; legged locomotion; minimisation; predictive control; stability; ℓ∞-norm penalty formulations; ℓ1-norm penalty formulations; foot repositioning; humanoid robot; model predictive control scheme; online foot position adaptation; stable walking motions; walking motion generation; Chebyshev approximation; Equations; Foot; Legged locomotion; Minimization; Safety;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5979671
