Journal
ADVANCED ROBOTICS
Volume 24, Issue 5-6, Pages 719-737Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1163/016918610X493552
Keywords
Walking humanoid robot; linear model predictive control
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Funding
- French Agence Nationale de la Recherche [ANR-08-JCJC-0075-01]
- Research Council KUL [CoE EF/05/006]
- German Academic Exchange Service (DAAD)
- Programme Hubert Curien
- European Community
- foundation Landesstiftung Baden-Wurttemberg
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The goal of this paper is to demonstrate the capacity of model predictive control (MPC) to generate stable walking motions without the use of predefined footsteps. Building up on well-known MPC schemes for walking motion generation, we show that a minimal modification of these schemes allows designing an online walking motion generator that can track a given reference speed of the robot and decide automatically the footstep placement. Simulation results are proposed on the HRP-2 humanoid robot, showing a significant improvement over previous approaches. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010
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