Buchumschlag

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...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Herdt, Andrei (VerfasserIn) , Diedam, Holger (VerfasserIn) , Wieber, Pierre-Brice (VerfasserIn) , Dimitrov, Dimitar (VerfasserIn) , Mombaur, Katja (VerfasserIn) , Diehl, Moritz (VerfasserIn)
Dokumenttyp: Article (Journal)
Sprache:Englisch
Veröffentlicht: [2010]
In: Advanced robotics
Year: 2010, Jahrgang: 24, Heft: 5-6, Pages: 719-737
ISSN:1568-5535
DOI:10.1163/016918610X493552
Online-Zugang:Verlag, lizenzpflichtig, Volltext: https://doi.org/10.1163/016918610X493552
Volltext
Verfasserangaben:Andrei Herdt, Holger Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, Katja Mombaur, Moritz Diehl
Beschreibung
Zusammenfassung: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.
Beschreibung:Elektronische Reproduktion der Druckausgabe
Gesehen am 19.04.2023
Beschreibung:Online Resource
ISSN:1568-5535
DOI:10.1163/016918610X493552

Ähnliche Einträge