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Journal Articles Advanced Robotics Year : 2010

Online Walking Motion Generation with Automatic Foot Step Placement

Abstract

The goal of this paper is to demonstrate the capacity of Model Predictive Control to generate stable walking motions without the use of predefined foot steps. Building up on well-known Model Predictive Control schemes for walking motion generation, we show that a minimal modification of these schemes allows designing an online walking motion generator which can track a given reference speed of the robot and decide automatically the foot step placement. Simulation results are proposed on the HRP-2 humanoid robot, showing a significant improvement over previous approaches.
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Dates and versions

inria-00391408 , version 1 (04-06-2009)
inria-00391408 , version 2 (16-03-2010)

Identifiers

Cite

Andrei Herdt, Holger Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, Katja Mombaur, et al.. Online Walking Motion Generation with Automatic Foot Step Placement. Advanced Robotics, 2010, Special Issue: Section Focused on Cutting Edge of Robotics in Japan 2010, 24 (5-6), pp.719-737. ⟨10.1163/016918610X493552⟩. ⟨inria-00391408v2⟩
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