Walking without thinking about it
Résumé
We demonstrate how the MPC sheme for the generation of stable bipedal walking motions, that has been introduced in [7], can be further expanded to enhance its flexibility and independency. An algorithm for the control of appropriate orientations of the feet and the trunk permits the robot to turn in a natural and safe way. Polygonal constraints on the positions of the computed feet positions serve to improve its reliability. A logic for the succession of the support phases and an algorithm for the automatic control of their orientations bridge the gap to more autonomy and to more practicability.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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