期刊
ADVANCED ROBOTICS
卷 24, 期 5-6, 页码 719-737出版社
TAYLOR & FRANCIS LTD
DOI: 10.1163/016918610X493552
关键词
Walking humanoid robot; linear model predictive control
类别
资金
- 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
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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