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Walking motion generation with online foot position adaptation based on L_1- and L_\inf-norm penalty formulations
Örebro universitet, Akademin för naturvetenskap och teknik.
2010 (engelsk)Inngår i: IEEE International conference on Robotics and automation (ICRA), IEEE conference proceedings, 2010, s. 3523-3529Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

The article presents an improved formulation of an existing model predictive control scheme used to generate online "stable" walking motions for a humanoid robot. We introduce: (i) a change of variable that simplifies the optimiza tion problem to be solved; (ii) a simply bounded formulation in the case when the positions of the feet are predetermined; (iii) a formulation allowing foot repositioning (when the system is perturbed) based on ℓ1- and ℓ-norm minimization; (iv) a formulation that accounts for (approximate) double support constraints when foot repositioning occurs.

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IEEE conference proceedings, 2010. s. 3523-3529
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URN: urn:nbn:se:oru:diva-22893DOI: 10.1109/ICRA.2011.5979671ISBN: 978-1-61284-386-5 (tryckt)OAI: oai:DiVA.org:oru-22893DiVA, id: diva2:527349
Konferanse
IEEE International Conference on Robotics and Automation (ICRA), 9-13 May 2011, Shanghai
Tilgjengelig fra: 2012-05-20 Laget: 2012-05-20 Sist oppdatert: 2017-10-18bibliografisk kontrollert

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Totalt: 108 treff
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