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Online walking motion generation with automatic footstep placement
Örebro University, School of Science and Technology.
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2010 (English)In: Advanced Robotics, ISSN 0169-1864, E-ISSN 1568-5535, Vol. 24, no 5-6, p. 719-737Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
2010. Vol. 24, no 5-6, p. 719-737
National Category
Robotics
Research subject
Computer Technology
Identifiers
URN: urn:nbn:se:oru:diva-22894DOI: 10.1163/016918610X493552ISI: 000278016600006OAI: oai:DiVA.org:oru-22894DiVA, id: diva2:527350
Available from: 2012-05-20 Created: 2012-05-20 Last updated: 2018-03-02Bibliographically approved

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Dimitrov, Dimitar

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