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Walking motion generation with online foot position adaptation based on L_1- and L_\inf-norm penalty formulations
Örebro University, School of Science and Technology.
2010 (English)In: IEEE International conference on Robotics and automation (ICRA), IEEE conference proceedings, 2010, p. 3523-3529Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2010. p. 3523-3529
National Category
Robotics
Research subject
Computer Technology
Identifiers
URN: urn:nbn:se:oru:diva-22893DOI: 10.1109/ICRA.2011.5979671ISBN: 978-1-61284-386-5 (print)OAI: oai:DiVA.org:oru-22893DiVA, id: diva2:527349
Conference
IEEE International Conference on Robotics and Automation (ICRA), 9-13 May 2011, Shanghai
Available from: 2012-05-20 Created: 2012-05-20 Last updated: 2017-10-18Bibliographically approved

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Dimitrov, Dimitar

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • de-DE
  • en-GB
  • en-US
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  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf