Cover Image

Online walking motion generation with automatic footstep placement

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 designi...

Full description

Saved in:
Bibliographic Details
Main Authors: Herdt, Andrei (Author) , Diedam, Holger (Author) , Wieber, Pierre-Brice (Author) , Dimitrov, Dimitar (Author) , Mombaur, Katja (Author) , Diehl, Moritz (Author)
Format: Article (Journal)
Language:English
Published: [2010]
In: Advanced robotics
Year: 2010, Volume: 24, Issue: 5-6, Pages: 719-737
ISSN:1568-5535
DOI:10.1163/016918610X493552
Online Access:Verlag, lizenzpflichtig, Volltext: https://doi.org/10.1163/016918610X493552
Get full text
Author Notes:Andrei Herdt, Holger Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, Katja Mombaur, Moritz Diehl

MARC

LEADER 00000caa a22000002c 4500
001 1843173875
003 DE-627
005 20230710142956.0
007 cr uuu---uuuuu
008 230419s2010 xx |||||o 00| ||eng c
024 7 |a 10.1163/016918610X493552  |2 doi 
035 |a (DE-627)1843173875 
035 |a (DE-599)KXP1843173875 
035 |a (OCoLC)1389806583 
040 |a DE-627  |b ger  |c DE-627  |e rda 
041 |a eng 
084 |a 35  |2 sdnb 
100 1 |a Herdt, Andrei  |e VerfasserIn  |0 (DE-588)1286648793  |0 (DE-627)1843174111  |4 aut 
245 1 0 |a Online walking motion generation with automatic footstep placement  |c Andrei Herdt, Holger Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, Katja Mombaur, Moritz Diehl 
264 1 |c [2010] 
300 |a 9 
336 |a Text  |b txt  |2 rdacontent 
337 |a Computermedien  |b c  |2 rdamedia 
338 |a Online-Ressource  |b cr  |2 rdacarrier 
500 |a Elektronische Reproduktion der Druckausgabe 
500 |a Gesehen am 19.04.2023 
520 |a 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. 
650 4 |a LINEAR MODEL PREDICTIVE CONTROL 
650 4 |a WALKING HUMANOID ROBOT 
700 1 |a Diedam, Holger  |e VerfasserIn  |0 (DE-588)1018193243  |0 (DE-627)690541856  |0 (DE-576)311295711  |4 aut 
700 1 |a Wieber, Pierre-Brice  |e VerfasserIn  |4 aut 
700 1 |a Dimitrov, Dimitar  |e VerfasserIn  |4 aut 
700 1 |a Mombaur, Katja  |e VerfasserIn  |0 (DE-588)1031167269  |0 (DE-627)735773769  |0 (DE-576)182041840  |4 aut 
700 1 |a Diehl, Moritz  |e VerfasserIn  |4 aut 
773 0 8 |i Enthalten in  |t Advanced robotics  |d London [u.a.] : Taylor & Francis, 1986  |g 24(2010), 5-6, Seite 719-737  |h Online-Ressource  |w (DE-627)324533934  |w (DE-600)2028449-4  |w (DE-576)118853708  |x 1568-5535  |7 nnas  |a Online walking motion generation with automatic footstep placement 
773 1 8 |g volume:24  |g year:2010  |g number:5-6  |g pages:719-737  |g extent:9  |a Online walking motion generation with automatic footstep placement 
856 4 0 |u https://doi.org/10.1163/016918610X493552  |x Verlag  |x Resolving-System  |z lizenzpflichtig  |3 Volltext 
951 |a AR 
992 |a 20230419 
993 |a Article 
994 |a 2010 
998 |g 1031167269  |a Mombaur, Katja  |m 1031167269:Mombaur, Katja  |d 700000  |d 708000  |e 700000PM1031167269  |e 708000PM1031167269  |k 0/700000/  |k 1/700000/708000/  |p 5 
998 |g 1018193243  |a Diedam, Holger  |m 1018193243:Diedam, Holger  |d 700000  |d 708000  |e 700000PD1018193243  |e 708000PD1018193243  |k 0/700000/  |k 1/700000/708000/  |p 2 
999 |a KXP-PPN1843173875  |e 4311321082 
BIB |a Y 
SER |a journal 
JSO |a {"relHost":[{"origin":[{"dateIssuedKey":"1986","publisherPlace":"London [u.a.] ; Zeist ; Leiden","publisher":"Taylor & Francis ; VSP ; Brill Academic Publishers","dateIssuedDisp":"1986-"}],"title":[{"title":"Advanced robotics","title_sort":"Advanced robotics","subtitle":"the international journal of the Robotics Society of Japan"}],"pubHistory":["1.1986 -"],"part":{"pages":"719-737","text":"24(2010), 5-6, Seite 719-737","issue":"5-6","extent":"9","volume":"24","year":"2010"},"language":["eng"],"disp":"Online walking motion generation with automatic footstep placementAdvanced robotics","type":{"bibl":"periodical","media":"Online-Ressource"},"physDesc":[{"extent":"Online-Ressource"}],"id":{"issn":["1568-5535"],"eki":["324533934"],"zdb":["2028449-4"]},"note":["Gesehen am 05.09.12"],"recId":"324533934"}],"name":{"displayForm":["Andrei Herdt, Holger Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, Katja Mombaur, Moritz Diehl"]},"recId":"1843173875","language":["eng"],"note":["Elektronische Reproduktion der Druckausgabe","Gesehen am 19.04.2023"],"id":{"eki":["1843173875"],"doi":["10.1163/016918610X493552"]},"person":[{"display":"Herdt, Andrei","family":"Herdt","role":"aut","given":"Andrei","roleDisplay":"VerfasserIn"},{"roleDisplay":"VerfasserIn","given":"Holger","role":"aut","display":"Diedam, Holger","family":"Diedam"},{"role":"aut","given":"Pierre-Brice","roleDisplay":"VerfasserIn","family":"Wieber","display":"Wieber, Pierre-Brice"},{"role":"aut","given":"Dimitar","roleDisplay":"VerfasserIn","display":"Dimitrov, Dimitar","family":"Dimitrov"},{"family":"Mombaur","display":"Mombaur, Katja","role":"aut","roleDisplay":"VerfasserIn","given":"Katja"},{"given":"Moritz","roleDisplay":"VerfasserIn","role":"aut","display":"Diehl, Moritz","family":"Diehl"}],"physDesc":[{"extent":"9 S."}],"title":[{"title":"Online walking motion generation with automatic footstep placement","title_sort":"Online walking motion generation with automatic footstep placement"}],"type":{"media":"Online-Ressource","bibl":"article-journal"},"origin":[{"dateIssuedKey":"2010","dateIssuedDisp":"[2010]"}]} 
SRT |a HERDTANDREONLINEWALK2010 

Similar Items