DocumentCode
2689310
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
fYear
2011
fDate
9-13 May 2011
Firstpage
3523
Lastpage
3529
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5979671
Filename
5979671
Link To Document